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Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16"

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matlabbe
2016-02-22 16:13:14 -05:00
parent 0d68f74d80
commit ccc4b4a6c2
22 changed files with 844 additions and 638 deletions
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11
guilib/src/PreferencesDialog.cpp
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@@ -675,6 +675,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->stackedWidget_loopClosureCorrespondences->setCurrentIndex(Parameters::defaultVisCorType());
_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str());
@@ -706,18 +707,18 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
_ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str());
//Odometry BOW
_ui->odom_localHistory->setObjectName(Parameters::kOdomLocalMapHistorySize().c_str());
_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomLocalMapFixedMapPath().c_str());
//Odometry Frame to Map
_ui->odom_localHistory->setObjectName(Parameters::kOdomF2MMaxSize().c_str());
_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomF2MFixedMapPath().c_str());
connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath()));
//Odometry Optical Flow
//Odometry Frame to Frame
_ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomF2FKeyFrameThr().c_str());
_ui->odom_flow_winSize_2->setObjectName(Parameters::kVisCorFlowWinSize().c_str());
_ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str());
_ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str());
_ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomF2FGuessMotion().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomGuessMotion().c_str());
//Odometry Mono
_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());