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Added parameter "g2o/PixelVariance" (default 1)

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This commit is contained in:
matlabbe
2016-04-06 15:24:36 -04:00
parent 000a2727ef
commit d2ebdea96d
10 changed files with 100 additions and 9 deletions
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2
guilib/src/MainWindow.cpp
View File

@@ -3887,6 +3887,7 @@ void MainWindow::postProcessing()
bool sba = _postProcessingDialog->isSBA();
int sbaIterations = _postProcessingDialog->sbaIterations();
double sbaEpsilon = _postProcessingDialog->sbaEpsilon();
double sbaVariance = _postProcessingDialog->sbaVariance();
Optimizer::Type sbaType = _postProcessingDialog->sbaType();
if(!detectMoreLoopClosures && !refineNeighborLinks && !refineLoopClosureLinks && !sba)
@@ -4186,6 +4187,7 @@ void MainWindow::postProcessing()
ParametersMap parametersSBA = _preferencesDialog->getAllParameters();
uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerIterations(), uNumber2Str(sbaIterations)));
uInsert(parametersSBA, std::make_pair(Parameters::kOptimizerEpsilon(), uNumber2Str(sbaEpsilon)));
uInsert(parametersSBA, std::make_pair(Parameters::kg2oPixelVariance(), uNumber2Str(sbaVariance)));
Optimizer * sba = Optimizer::create(sbaType, parametersSBA);
std::map<int, Transform> newPoses = sba->optimizeBA(optimizedPoses.begin()->first, optimizedPoses, linksOut, _cachedSignatures.toStdMap());
delete sba;

22
guilib/src/PostProcessingDialog.cpp
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@@ -74,6 +74,9 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
connect(_ui->sba_iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->sba_epsilon, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_sbaType, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_sbaType, SIGNAL(currentIndexChanged(int)), this, SLOT(updateVisibility()));
updateVisibility();
}
PostProcessingDialog::~PostProcessingDialog()
@@ -81,6 +84,12 @@ PostProcessingDialog::~PostProcessingDialog()
delete _ui;
}
void PostProcessingDialog::updateVisibility()
{
_ui->sba_variance->setVisible(_ui->comboBox_sbaType->currentIndex() == 0);
_ui->label_variance->setVisible(_ui->comboBox_sbaType->currentIndex() == 0);
}
void PostProcessingDialog::saveSettings(QSettings & settings, const QString & group) const
{
if(!group.isEmpty())
@@ -97,6 +106,7 @@ void PostProcessingDialog::saveSettings(QSettings & settings, const QString & gr
settings.setValue("sba_iterations", this->sbaIterations());
settings.setValue("sba_epsilon", this->sbaEpsilon());
settings.setValue("sba_type", this->sbaType());
settings.setValue("sba_variance", this->sbaVariance());
if(!group.isEmpty())
{
settings.endGroup();
@@ -119,6 +129,7 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
this->setSBAIterations(settings.value("sba_iterations", this->sbaIterations()).toInt());
this->setSBAEpsilon(settings.value("sba_epsilon", this->sbaEpsilon()).toDouble());
this->setSBAType((Optimizer::Type)settings.value("sba_type", this->sbaType()).toInt());
this->setSBAVariance(settings.value("sba_variance", this->sbaVariance()).toDouble());
if(!group.isEmpty())
{
settings.endGroup();
@@ -135,8 +146,9 @@ void PostProcessingDialog::restoreDefaults()
setRefineLoopClosureLinks(false);
setSBA(false);
setSBAIterations(20);
setSBAEpsilon(0.0001);
setSBAEpsilon(0.0);
setSBAType(!Optimizer::isAvailable(Optimizer::kTypeG2O)&&Optimizer::isAvailable(Optimizer::kTypeCVSBA)?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O);
setSBAVariance(1.0);
}
void PostProcessingDialog::updateButtonBox()
@@ -188,6 +200,10 @@ double PostProcessingDialog::sbaEpsilon() const
{
return _ui->sba_epsilon->value();
}
double PostProcessingDialog::sbaVariance() const
{
return _ui->sba_variance->value();
}
Optimizer::Type PostProcessingDialog::sbaType() const
{
return _ui->comboBox_sbaType->currentIndex()==0?Optimizer::kTypeG2O:Optimizer::kTypeCVSBA;
@@ -230,6 +246,10 @@ void PostProcessingDialog::setSBAEpsilon(double epsilon)
{
_ui->sba_epsilon->setValue(epsilon);
}
void PostProcessingDialog::setSBAVariance(double variance)
{
_ui->sba_variance->setValue(variance);
}
void PostProcessingDialog::setSBAType(Optimizer::Type type)
{
if(type == Optimizer::kTypeCVSBA)

3
guilib/src/PostProcessingDialog.h
View File

@@ -60,6 +60,7 @@ public:
bool isSBA() const;
int sbaIterations() const;
double sbaEpsilon() const;
double sbaVariance() const;
Optimizer::Type sbaType() const;
//setters
@@ -72,6 +73,7 @@ public:
void setSBA(bool on);
void setSBAIterations(int iterations);
void setSBAEpsilon(double epsilon);
void setSBAVariance(double variance);
void setSBAType(Optimizer::Type type);
signals:
@@ -81,6 +83,7 @@ public slots:
void restoreDefaults();
private slots:
void updateVisibility();
void updateButtonBox();

1
guilib/src/PreferencesDialog.cpp
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@@ -658,6 +658,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_g2o_solver->setObjectName(Parameters::kg2oSolver().c_str());
_ui->comboBox_g2o_optimizer->setObjectName(Parameters::kg2oOptimizer().c_str());
_ui->doubleSpinBox_g2o_variance->setObjectName(Parameters::kg2oPixelVariance().c_str());
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());

36
guilib/src/ui/postProcessingDialog.ui
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@@ -187,7 +187,7 @@
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
<number>999999</number>
</property>
<property name="value">
<number>100</number>
@@ -217,7 +217,7 @@
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
@@ -260,6 +260,38 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_variance">
<property name="text">
<string>Pixel variance used by g2o.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="sba_variance">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>

35
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1161</y>
<y>0</y>
<width>681</width>
<height>2010</height>
<height>2044</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -7060,6 +7060,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_variance">
<property name="enabled">
<bool>false</bool>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_148">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Pixel variance for SBA.</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>