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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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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;