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Updated how local scan matching is done (doing it on segmented local paths)

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This commit is contained in:
Mathieu Labbe
2015-04-27 02:43:06 -04:00
parent 2e706ed01f
commit db90da7303
16 changed files with 532 additions and 226 deletions
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27
guilib/src/PreferencesDialog.cpp
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@@ -293,6 +293,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->groupBox_sourceDatabase, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_database_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreOdometry, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreGoalDelay, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_databaseStartPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//openni group
connect(_ui->groupBox_sourceOpenni, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
@@ -363,6 +364,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str());
_ui->checkBox_localSpaceLinksKeptInWM->setObjectName(Parameters::kMemLocalSpaceLinksKeptInWM().c_str());
_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
_ui->general_doubleSpinBox_laserScanVoxel->setObjectName(Parameters::kMemLaserScanVoxelSize().c_str());
// Database
@@ -475,14 +477,15 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_planWithNearNodesLinked->setObjectName(Parameters::kRGBDPlanWithNearNodesLinked().c_str());
_ui->graphPlan_planWithNearNodesLinked->setObjectName(Parameters::kRGBDPlanVirtualLinks().c_str());
_ui->graphPlan_maxDiffID->setObjectName(Parameters::kRGBDPlanVirtualLinksMaxDiffID().c_str());
_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());
_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDLocalLoopDetectionSpace().c_str());
_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str());
_ui->localDetection_maxNeighbors->setObjectName(Parameters::kRGBDLocalLoopDetectionNeighbors().c_str());
_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDLocalLoopDetectionMaxDiffID().c_str());
_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDLocalLoopDetectionPathFilteringRadius().c_str());
_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kLccBowMinInliers().c_str());
_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kLccBowInlierDistance().c_str());
@@ -499,7 +502,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_maxFeatures->setObjectName(Parameters::kLccReextractMaxWords().c_str());
_ui->globalDetection_icpType->setObjectName(Parameters::kLccIcpType().c_str());
_ui->globalDetection_icpMaxDistance->setObjectName(Parameters::kLccIcpMaxDistance().c_str());
_ui->globalDetection_icpMaxTranslation->setObjectName(Parameters::kLccIcpMaxTranslation().c_str());
_ui->globalDetection_icpMaxRotation->setObjectName(Parameters::kLccIcpMaxRotation().c_str());
_ui->loopClosure_icpDecimation->setObjectName(Parameters::kLccIcp3Decimation().c_str());
_ui->loopClosure_icpMaxDepth->setObjectName(Parameters::kLccIcp3MaxDepth().c_str());
@@ -727,9 +731,12 @@ void PreferencesDialog::setupSignals()
const rtabmap::ParametersMap & parameters = Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
QObject * obj = _ui->stackedWidget->findChild<QObject*>((*iter).first.c_str());
QWidget * obj = _ui->stackedWidget->findChild<QWidget*>((*iter).first.c_str());
if(obj)
{
// set tooltip as the parameter name
obj->setToolTip(iter->first.c_str());
QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
QComboBox * combo = qobject_cast<QComboBox *>(obj);
@@ -767,12 +774,12 @@ void PreferencesDialog::setupSignals()
}
else
{
ULOGGER_WARN("QObject called %s can't be cast to a supported widget", (*iter).first.c_str());
ULOGGER_WARN("QWidget called %s can't be cast to a supported widget", (*iter).first.c_str());
}
}
else
{
ULOGGER_WARN("Can't find the related QObject for parameter %s", (*iter).first.c_str());
ULOGGER_WARN("Can't find the related QWidget for parameter %s", (*iter).first.c_str());
}
}
}
@@ -928,6 +935,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->groupBox_sourceDatabase->setChecked(false);
_ui->source_checkBox_ignoreOdometry->setChecked(false);
_ui->source_checkBox_ignoreGoalDelay->setChecked(false);
_ui->source_spinBox_databaseStartPos->setValue(0);
_ui->groupBox_sourceOpenni->setChecked(true);
@@ -1202,6 +1210,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->groupBox_sourceDatabase->setChecked(settings.value("databaseUsed", _ui->groupBox_sourceDatabase->isChecked()).toBool());
_ui->source_database_lineEdit_path->setText(settings.value("path",_ui->source_database_lineEdit_path->text()).toString());
_ui->source_checkBox_ignoreOdometry->setChecked(settings.value("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked()).toBool());
_ui->source_checkBox_ignoreGoalDelay->setChecked(settings.value("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked()).toBool());
_ui->source_spinBox_databaseStartPos->setValue(settings.value("startPos", _ui->source_spinBox_databaseStartPos->value()).toInt());
settings.endGroup(); // Database
@@ -1468,6 +1477,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("databaseUsed", _ui->groupBox_sourceDatabase->isChecked());
settings.setValue("path", _ui->source_database_lineEdit_path->text());
settings.setValue("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked());
settings.setValue("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked());
settings.setValue("startPos", _ui->source_spinBox_databaseStartPos->value());
settings.endGroup();
@@ -2030,6 +2040,7 @@ void PreferencesDialog::selectSourceDatabase(bool user)
_ui->groupBox_sourceDatabase->setChecked(true);
_ui->source_checkBox_ignoreOdometry->setChecked(r != QMessageBox::Yes);
_ui->source_checkBox_ignoreGoalDelay->setChecked(false);
_ui->source_database_lineEdit_path->setText(path);
_ui->source_spinBox_databaseStartPos->setValue(0);
}
@@ -3036,6 +3047,10 @@ bool PreferencesDialog::getSourceDatabaseOdometryIgnored() const
{
return _ui->source_checkBox_ignoreOdometry->isChecked();
}
bool PreferencesDialog::getSourceDatabaseGoalDelayIgnored() const
{
return _ui->source_checkBox_ignoreGoalDelay->isChecked();
}
int PreferencesDialog::getSourceDatabaseStartPos() const
{
return _ui->source_spinBox_databaseStartPos->value();