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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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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)