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0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration.

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This commit is contained in:
matlabbe
2020-04-16 17:59:45 -04:00
parent 2ff582f06f
commit f575652456
16 changed files with 939 additions and 140 deletions
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70
guilib/src/PreferencesDialog.cpp
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@@ -194,8 +194,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1);
#if CV_MAJOR_VERSION >= 3
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
@@ -204,25 +204,30 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(3, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(4, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(5, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(6, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(3, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(4, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(5, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(6, 0, Qt::UserRole - 1);
#endif
#endif
#ifndef RTABMAP_ORB_OCTREE
_ui->comboBox_detector_strategy->setItemData(10, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(10, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(10, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_SP_TORCH
_ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false);
#else
_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
_ui->vis_feature_detector->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
#endif
_ui->comboBox_cameraImages_odomFormat->setItemData(4, 0, Qt::UserRole - 1);
@@ -935,6 +940,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_kaze_octavelayers->setObjectName(Parameters::kKAZENOctaveLayers().c_str());
_ui->spinBox_kaze_diffusivity->setObjectName(Parameters::kKAZEDiffusivity().c_str());
// SuperPoint Torch
_ui->lineEdit_sptorch_path->setObjectName(Parameters::kSPTorchModelPath().c_str());
connect(_ui->toolButton_sptorch_path, SIGNAL(clicked()), this, SLOT(changeSPTorchModelPath()));
_ui->doubleSpinBox_sptorch_threshold->setObjectName(Parameters::kSPTorchThreshold().c_str());
_ui->checkBox_sptorch_nms->setObjectName(Parameters::kSPTorchNMS().c_str());
_ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSPTorchMinDistance().c_str());
_ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSPTorchCuda().c_str());
// verifyHypotheses
_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
_ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str());
@@ -1021,7 +1034,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->checkBox__visCorGuessMatchToProjection->setObjectName(Parameters::kVisCorGuessMatchToProjection().c_str());
_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
_ui->vis_feature_detector->setObjectName(Parameters::kVisFeatureType().c_str());
_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
_ui->reextract_gridrows->setObjectName(Parameters::kVisGridRows().c_str());
_ui->reextract_gridcols->setObjectName(Parameters::kVisGridCols().c_str());
@@ -2871,13 +2884,13 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
// BOW Reextract features type
if(_ui->reextract_type->currentIndex() <= 1)
if(_ui->vis_feature_detector->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction "
"of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureFastBrief);
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureFastBrief);
}
#endif
@@ -2896,18 +2909,18 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
#endif
}
if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureKaze)
if (_ui->vis_feature_detector->currentIndex() == Feature2D::kFeatureKaze)
{
#ifdef RTABMAP_NONFREE
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureSurf);
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureSurf);
#else
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureOrb);
#endif
}
#endif
@@ -2920,12 +2933,12 @@ bool PreferencesDialog::validateForm()
"for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureOrbOctree)
if (_ui->vis_feature_detector->currentIndex() == Feature2D::kFeatureOrbOctree)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (ORB Octree) is not available on OpenCV2. ORB is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureOrb);
}
#endif
@@ -3057,7 +3070,7 @@ bool PreferencesDialog::validateForm()
}
// BOW Reextract features type
if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->reextract_type->currentIndex() <= 1)
if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->vis_feature_detector->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" "
@@ -4569,7 +4582,7 @@ void PreferencesDialog::useOdomFeatures()
if(r == QMessageBox::Yes)
{
_ui->comboBox_detector_strategy->setCurrentIndex(_ui->reextract_type->currentIndex());
_ui->comboBox_detector_strategy->setCurrentIndex(_ui->vis_feature_detector->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());
@@ -4678,6 +4691,23 @@ void PreferencesDialog::changeIcpPMConfigPath()
}
}
void PreferencesDialog::changeSPTorchModelPath()
{
QString path;
if(_ui->lineEdit_sptorch_path->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("SuperPoint weights (*.pt)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_sptorch_path->text(), tr("SuperPoint weights (*.pt)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_sptorch_path->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);