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Added PyDetector (#677)

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* Added PyDetector. Refactored PyMatcher.

* Fixed python freezing with multi-threading
This commit is contained in:
matlabbe
2021-01-17 01:56:27 -05:00
committed by GitHub
parent 0bc483b6d3
commit c49785061f
26 changed files with 733 additions and 115 deletions
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34
guilib/src/PreferencesDialog.cpp
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@@ -231,12 +231,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->vis_feature_detector->setItemData(10, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_SUPERPOINT_TORCH
#ifndef RTABMAP_TORCH
_ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_PYMATCHER
#ifndef RTABMAP_PYTHON
_ui->comboBox_detector_strategy->setItemData(15, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(15, 0, Qt::UserRole - 1);
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
#endif
@@ -1009,7 +1011,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->pymatcher_iterations->setObjectName(Parameters::kPyMatcherIterations().c_str());
_ui->checkBox_pymatcher_cuda->setObjectName(Parameters::kPyMatcherCuda().c_str());
_ui->lineEdit_pymatcher_model->setObjectName(Parameters::kPyMatcherModel().c_str());
connect(_ui->toolButton_pymatcher_model, SIGNAL(clicked()), this, SLOT(changePyMatcherPath()));
connect(_ui->toolButton_pymatcher_model, SIGNAL(clicked()), this, SLOT(changePyMatcherModel()));
// PyDetector
_ui->lineEdit_pydetector_path->setObjectName(Parameters::kPyDetectorPath().c_str());
connect(_ui->toolButton_pydetector_path, SIGNAL(clicked()), this, SLOT(changePyDetectorPath()));
_ui->checkBox_pydetector_cuda->setObjectName(Parameters::kPyDetectorCuda().c_str());
// GMS
_ui->checkBox_gms_withRotation->setObjectName(Parameters::kGMSWithRotation().c_str());
@@ -4922,11 +4929,11 @@ void PreferencesDialog::changePyMatcherModel()
QString path;
if(_ui->lineEdit_pymatcher_model->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("PyTorch model (*.pth, *.pt)"));
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("PyTorch model (*.pth *.pt)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pymatcher_model->text(), tr("PyTorch model (*.pth, *.pt)"));
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pymatcher_model->text(), tr("PyTorch model (*.pth *.pt)"));
}
if(!path.isEmpty())
{
@@ -4934,6 +4941,23 @@ void PreferencesDialog::changePyMatcherModel()
}
}
void PreferencesDialog::changePyDetectorPath()
{
QString path;
if(_ui->lineEdit_pydetector_path->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("Python wrapper (*.py)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_pydetector_path->text(), tr("Python wrapper (*.py)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_pydetector_path->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);