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Enabled binary visual words for dictionary (for loop closure detection).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-09 21:54:32 +00:00
parent e687302ce0
commit c8593df7eb
10 changed files with 102 additions and 30 deletions
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4
guilib/include/rtabmap/gui/MainWindow.h
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@@ -137,7 +137,7 @@ private slots:
void selectScreenCaptureFormat(bool checked);
void takeScreenshot();
void updateElapsedTime();
void processOdometry(const rtabmap::SensorData & data, int quality);
void processOdometry(const rtabmap::SensorData & data, int quality, float time);
void applyAllPrefSettings();
void applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags);
void applyPrefSettings(const rtabmap::ParametersMap & parameters);
@@ -169,7 +169,7 @@ private slots:
signals:
void statsReceived(const rtabmap::Statistics &);
void odometryReceived(const rtabmap::SensorData &, int);
void odometryReceived(const rtabmap::SensorData &, int, float);
void thresholdsChanged(int, int);
void stateChanged(MainWindow::State);
void rtabmapEventInitReceived(int status, const QString & info);

2
guilib/src/DatabaseViewer.cpp
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@@ -186,6 +186,8 @@ bool DatabaseViewer::openDatabase(const QString & path)
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), "false"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), "false"));
// use BruteForce dictionary because we don't know which type of descriptors are saved in database
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpNNStrategy(), "3"));
memory_ = new rtabmap::Memory();

16
guilib/src/MainWindow.cpp
View File

@@ -342,7 +342,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
connect(this, SIGNAL(odometryReceived(rtabmap::SensorData, int)), this, SLOT(processOdometry(rtabmap::SensorData, int)));
connect(this, SIGNAL(odometryReceived(rtabmap::SensorData, int, float)), this, SLOT(processOdometry(rtabmap::SensorData, int, float)));
connect(this, SIGNAL(noMoreImagesReceived()), this, SLOT(stopDetection()));
@@ -531,7 +531,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
!_processingStatistics)
{
_lastOdometryProcessed = false; // if we receive too many odometry events!
emit odometryReceived(odomEvent->data(), odomEvent->quality());
emit odometryReceived(odomEvent->data(), odomEvent->quality(), odomEvent->time());
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -554,7 +554,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality)
void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality, float time)
{
Transform pose = data.pose();
if(pose.isNull())
@@ -578,7 +578,11 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality)
}
if(quality >= 0)
{
_ui->statsToolBox->updateStat("/Odom inliers/", (float)data.id(), (float)quality);
_ui->statsToolBox->updateStat("Odometry/Inliers/", (float)data.id(), (float)quality);
}
if(time > 0)
{
_ui->statsToolBox->updateStat("Odometry/Time/ms", (float)data.id(), (float)time*1000.0f);
}
if(!pose.isNull())
{
@@ -1406,10 +1410,6 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
{
if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitializing)
{
if(_state == kDetecting)
{
this->pauseDetection();
}
_initProgressDialog->setAutoClose(true, 1);
_initProgressDialog->resetProgress();
_initProgressDialog->show();

20
guilib/src/PreferencesDialog.cpp
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@@ -1345,15 +1345,25 @@ void PreferencesDialog::writeCoreSettings(const QString & filePath)
bool PreferencesDialog::validateForm()
{
//verify odom type vs nearest neighbor approach
if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannLSH)
//verify binary featrues and nearest neighbor
// BOW dictionary type
if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannLSH && _ui->comboBox_detector_strategy->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (SURF or SIFT), parameter \"Visual Word->Nearest Neighbor\" "
tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" "
"cannot be LSH (used for binary descriptor). KD-tree is set instead."));
_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNFlannKdTree);
}
else if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannKdTree && _ui->comboBox_detector_strategy->currentIndex() >1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Visual word->Nearest Neighbor\" "
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead."));
_ui->comboBox_dictionary_strategy->setCurrentIndex(VWDictionary::kNNBruteForce);
}
// odom type
if(_ui->odom_bin_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->odom_type->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
@@ -1365,8 +1375,8 @@ bool PreferencesDialog::validateForm()
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (ORB, FAST, FREAK or BRIEF), parameter \"Odometry->Nearest Neighbor\" "
"cannot be KD-Tree (used for float descriptor). LSH is set instead."));
_ui->odom_bin_nn->setCurrentIndex(VWDictionary::kNNFlannLSH);
"cannot be KD-Tree (used for float descriptor). BruteForce matching is set instead."));
_ui->odom_bin_nn->setCurrentIndex(VWDictionary::kNNBruteForce);
}
return true;

27
guilib/src/ui/preferencesDialog.ui
View File

@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>21</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -3343,6 +3343,31 @@ generate the number of words requested.</string>
<string>SIFT</string>
</property>
</item>
<item>
<property name="text">
<string>ORB</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+BRIEF</string>
</property>
</item>
</widget>
</item>
</layout>