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Added parameter "Mem/UseOdometryFeatures=false" to use directly features already extracted from odometry for the vocabulary (issue #32)

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This commit is contained in:
matlabbe
2016-02-22 17:57:40 -05:00
parent ccc4b4a6c2
commit d7ef170d33
15 changed files with 175 additions and 73 deletions
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30
guilib/src/PreferencesDialog.cpp
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@@ -510,6 +510,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());
_ui->checkBox_useDepthAsMask->setObjectName(Parameters::kMemUseDepthAsMask().c_str());
_ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str());
// Database
_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
@@ -776,6 +777,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_kp_roi2, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
connect(_ui->doubleSpinBox_kp_roi3, SIGNAL(valueChanged(double)), this, SLOT(updateKpROI()));
connect(_ui->graphOptimization_type, SIGNAL(currentIndexChanged(int)), this, SLOT(updateG2oVisibility()));
connect(_ui->checkBox_useOdomFeatures, SIGNAL(toggled(bool)), this, SLOT(useOdomFeatures()));
//Create a model from the stacked widgets
// This will add all parameters to the parameters Map
@@ -2192,6 +2194,9 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
_ui->groupBox_source0->setEnabled(false);
_ui->groupBox_odometry1->setEnabled(false);
_ui->checkBox_useOdomFeatures->setChecked(false);
_ui->checkBox_useOdomFeatures->setEnabled(false);
this->setWindowTitle(tr("Preferences [Monitoring mode]"));
}
else
@@ -2207,6 +2212,8 @@ void PreferencesDialog::showEvent ( QShowEvent * event )
_ui->groupBox_source0->setEnabled(true);
_ui->groupBox_odometry1->setEnabled(true);
_ui->checkBox_useOdomFeatures->setEnabled(true);
this->setWindowTitle(tr("Preferences"));
}
this->readSettingsBegin();
@@ -3260,6 +3267,29 @@ void PreferencesDialog::updateG2oVisibility()
_ui->groupBox_g2o->setVisible(_ui->graphOptimization_type->currentIndex() == 1);
}
void PreferencesDialog::useOdomFeatures()
{
if(this->isVisible() && _ui->checkBox_useOdomFeatures->isChecked())
{
int r = QMessageBox::question(this, tr("Using odometry features for vocabulary..."),
tr("Do you want to match feature parameters "
"below with corresponding ones used for odometry?"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(r == QMessageBox::Yes)
{
_ui->comboBox_detector_strategy->setCurrentIndex(_ui->reextract_type->currentIndex());
_ui->surf_doubleSpinBox_maxDepth->setValue(_ui->loopClosure_bowMaxDepth->value());
_ui->surf_doubleSpinBox_minDepth->setValue(_ui->loopClosure_bowMinDepth->value());
_ui->surf_spinBox_wordsPerImageTarget->setValue(_ui->reextract_maxFeatures->value());
_ui->checkBox_useDepthAsMask->setChecked(_ui->loopClosure_useDepthAsMask->isChecked());
_ui->lineEdit_kp_roi->setText(_ui->loopClosure_roi->text());
_ui->subpix_winSize_kp->setValue(_ui->subpix_winSize->value());
_ui->subpix_iterations_kp->setValue(_ui->subpix_iterations->value());
_ui->subpix_eps_kp->setValue(_ui->subpix_eps->value());
}
}
}
void PreferencesDialog::changeWorkingDirectory()
{
QString directory = QFileDialog::getExistingDirectory(this, tr("Working directory"), _ui->lineEdit_workingDirectory->text());