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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
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@@ -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)
{