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Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView.

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This commit is contained in:
matlabbe
2020-05-11 13:23:26 -04:00
parent cc9fd439fe
commit d2673ed2fa
12 changed files with 600 additions and 309 deletions
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17
guilib/src/PreferencesDialog.cpp
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@@ -227,6 +227,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
#endif
#if !defined(HAVE_OPENCV_XFEATURES2D) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION<4 || CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<1))
_ui->reextract_nn->setItemData(7, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false);
#else
@@ -965,6 +969,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->sgpytorch_matchThreshold->setObjectName(Parameters::kSuperGlueMatchThreshold().c_str());
_ui->sgpytorch_iterations->setObjectName(Parameters::kSuperGlueIterations().c_str());
_ui->checkBox_sgpytorch_cuda->setObjectName(Parameters::kSuperGlueCuda().c_str());
_ui->checkBox_sgpytorch_indoor->setObjectName(Parameters::kSuperGlueCuda().c_str());
// GMS
_ui->checkBox_gms_withRotation->setObjectName(Parameters::kGMSWithRotation().c_str());
_ui->checkBox_gms_withScale->setObjectName(Parameters::kGMSWithScale().c_str());
_ui->gms_thresholdFactor->setObjectName(Parameters::kGMSThresholdFactor().c_str());
// verifyHypotheses
_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
@@ -1049,6 +1059,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
connect(_ui->reextract_nn, SIGNAL(currentIndexChanged(int)), this, SLOT(updateFeatureMatchingVisibility()));
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->checkBox__visCorGuessMatchToProjection->setObjectName(Parameters::kVisCorGuessMatchToProjection().c_str());
@@ -4602,6 +4613,12 @@ void PreferencesDialog::updateStereoDisparityVisibility()
_ui->label_stereo_rectify->setVisible(_ui->checkBox_stereo_rectify->isEnabled());
}
void PreferencesDialog::updateFeatureMatchingVisibility()
{
_ui->groupBox_superglue->setVisible(_ui->reextract_nn->currentIndex() == 6);
_ui->groupBox_gms->setVisible(_ui->reextract_nn->currentIndex() == 7);
}
void PreferencesDialog::useOdomFeatures()
{
if(this->isVisible() && _ui->checkBox_useOdomFeatures->isChecked())