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Added parameters: Mem/ImagePreDecimation Mem/ImagePostDecimation Odom/ImageDecimation

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This commit is contained in:
matlabbe
2016-04-08 16:15:08 -04:00
parent 0b3da6b246
commit dece54ca3e
12 changed files with 268 additions and 127 deletions
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2
guilib/src/ExportCloudsDialog.cpp
View File

@@ -905,7 +905,7 @@ bool ExportCloudsDialog::getExportedClouds(
for(unsigned int i=0; i<textureMesh->tex_polygons[0].size(); ++i)
{
const pcl::Vertices & vertices = textureMesh->tex_polygons[0][i];
UASSERT(polygonSize == vertices.vertices.size());
UASSERT(polygonSize == (int)vertices.vertices.size());
for(int k=0; k<polygonSize; ++k)
{
//uv

4
guilib/src/PreferencesDialog.cpp
View File

@@ -530,7 +530,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_createMapLabels->setObjectName(Parameters::kMemMapLabelsAdded().c_str());
_ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str());
_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());
_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
_ui->spinBox_imagePreDecimation->setObjectName(Parameters::kMemImagePreDecimation().c_str());
_ui->spinBox_imagePostDecimation->setObjectName(Parameters::kMemImagePostDecimation().c_str());
_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());
_ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str());
@@ -738,6 +739,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomKeyFrameThr().c_str());
_ui->odom_flow_scanKeyframeThr->setObjectName(Parameters::kOdomScanKeyFrameThr().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomGuessMotion().c_str());
_ui->odom_imageDecimation->setObjectName(Parameters::kOdomImageDecimation().c_str());
//Odometry Frame to Map
_ui->odom_localHistory->setObjectName(Parameters::kOdomF2MMaxSize().c_str());

28
guilib/src/ui/DatabaseViewer.ui
View File

@@ -52,11 +52,11 @@
<rect>
<x>0</x>
<y>0</y>
<width>205</width>
<height>208</height>
<width>202</width>
<height>196</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0" columnstretch="1,1">
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="1" column="1">
<widget class="QLabel" name="label_childrenA">
<property name="text">
@@ -210,8 +210,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>203</width>
<height>208</height>
<width>201</width>
<height>196</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -484,7 +484,7 @@
<x>0</x>
<y>0</y>
<width>1285</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -983,8 +983,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>324</width>
<height>188</height>
<width>333</width>
<height>186</height>
</rect>
</property>
<attribute name="label">
@@ -1119,8 +1119,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>280</width>
<height>628</height>
<width>278</width>
<height>578</height>
</rect>
</property>
<attribute name="label">
@@ -1501,8 +1501,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>201</width>
<height>126</height>
<width>289</width>
<height>182</height>
</rect>
</property>
<attribute name="label">
@@ -1601,8 +1601,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>173</width>
<height>166</height>
<width>289</width>
<height>182</height>
</rect>
</property>
<attribute name="label">

105
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>681</width>
<height>2044</height>
<width>686</width>
<height>2023</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>12</number>
<number>14</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4662,6 +4662,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_retrieved_10">
<property name="text">
@@ -4802,10 +4812,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
<string>Image post decimation. This option can be used to save images in lower resolution (size/decimation). It is done on the original image.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -4828,7 +4838,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="1">
<item row="14" column="1">
<widget class="QLabel" name="label_retrieved_8">
<property name="text">
<string>If &gt; 1, downsample the laser scans when creating a location. This feature can be used to save laser scans already downsampled.</string>
@@ -4874,7 +4884,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
<property name="minimumSize">
<size>
@@ -4890,16 +4900,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QSpinBox" name="spinBox_imageDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
<property name="text">
@@ -4933,6 +4933,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_retrieved_13">
<property name="text">
<string>Image pre decimation. This option can be used to reduce image size before features extraction.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -7291,14 +7314,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
<item>
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
<item row="6" column="0">
<widget class="QCheckBox" name="odom_flow_guessMotion">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="odom_flow_keyframeThr">
<property name="maximum">
<double>1.000000000000000</double>
@@ -7311,6 +7327,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="odom_flow_guessMotion">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_233">
<property name="text">
@@ -7351,7 +7374,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QSpinBox" name="odom_dataBufferSize">
<property name="maximum">
<number>999999</number>
@@ -7388,7 +7411,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QPushButton" name="pushButton_testOdometry">
<property name="text">
<string>Test selected odometry</string>
@@ -7408,7 +7431,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_232">
<property name="text">
<string>Data buffer size (0 means inf).</string>
@@ -7476,7 +7499,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_196">
<property name="text">
<string>[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
@@ -7489,7 +7512,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_246">
<property name="text">
<string>[Geometry] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
@@ -7502,7 +7525,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="odom_flow_scanKeyframeThr">
<property name="maximum">
<double>1.000000000000000</double>
@@ -7515,6 +7538,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_248">
<property name="text">
<string>Decimation of images before features extraction.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="odom_imageDecimation">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
</layout>
</item>
<item>