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Added GFTT detector which can be used for Odometry

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Modified how depth is computed: Now the mean of neighbors is used as the value instead of interpolation... averaging the Kinect noise.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1662 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-20 23:05:06 +00:00
parent b0af55699d
commit f251b64310
11 changed files with 546 additions and 113 deletions
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18
guilib/src/PreferencesDialog.cpp
View File

@@ -382,6 +382,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_FREAKPatternScale->setObjectName(Parameters::kFREAKPatternScale().c_str());
_ui->spinBox_FREAKNOctaves->setObjectName(Parameters::kFREAKNOctaves().c_str());
//GFTT detector
_ui->spinBox_GFTT_maxCorners->setObjectName(Parameters::kGFTTMaxCorners().c_str());
_ui->doubleSpinBox_GFTT_qualityLevel->setObjectName(Parameters::kGFTTQualityLevel().c_str());
_ui->doubleSpinBox_GFTT_minDistance->setObjectName(Parameters::kGFTTMinDistance().c_str());
_ui->spinBox_GFTT_blockSize->setObjectName(Parameters::kGFTTBlockSize().c_str());
_ui->checkBox_GFTT_useHarrisDetector->setObjectName(Parameters::kGFTTUseHarrisDetector().c_str());
_ui->doubleSpinBox_GFTT_k->setObjectName(Parameters::kGFTTK().c_str());
// verifyHypotheses
_ui->comboBox_vh_strategy->setObjectName(Parameters::kRtabmapVhStrategy().c_str());
_ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str());
@@ -1902,6 +1910,16 @@ void PreferencesDialog::addParameter(const QObject * object, int value)
this->addParameters(_ui->groupBox_detector_fast2);
this->addParameters(_ui->groupBox_detector_brief2);
}
else if(value == 5) // gftt+freak
{
this->addParameters(_ui->groupBox_detector_gftt2);
this->addParameters(_ui->groupBox_detector_freak2);
}
else if(value == 6) // gftt+brief
{
this->addParameters(_ui->groupBox_detector_gftt2);
this->addParameters(_ui->groupBox_detector_brief2);
}
}
else if(comboBox == _ui->globalDetection_icpType)
{

165
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>736</width>
<height>751</height>
<width>737</width>
<height>895</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>0</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -4226,6 +4226,155 @@ When set to false, no new words are added to dictionary, so no more updates are
</item>
</layout>
</widget>
<widget class="QWidget" name="page_16">
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QGroupBox" name="groupBox_detector_gftt2">
<property name="title">
<string>GFTT</string>
</property>
<layout class="QGridLayout" name="gridLayout_21" columnstretch="0,1">
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_qualityLevel">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_minDistance">
<property name="decimals">
<number>1</number>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_GFTT_useHarrisDetector">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_172">
<property name="text">
<string>Use Harris detector.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_k">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.040000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_173">
<property name="text">
<string>K.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_GFTT_blockSize">
<property name="value">
<number>3</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_GFTT_maxCorners">
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>1000</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_174">
<property name="text">
<string>Maximum corners.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_175">
<property name="text">
<string>Quality level.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_176">
<property name="text">
<string>Mininum distance.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_177">
<property name="text">
<string>Block size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_25">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>644</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_19">
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
@@ -5635,6 +5784,16 @@ Warning when set to false: when some nodes are transferred, the first referentia
<string>FAST+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+BRIEF</string>
</property>
</item>
</widget>
</item>
<item row="13" column="1">