i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

libpointmatcher integration

Browse Source
This commit is contained in:
matlabbe
2017-08-22 16:20:49 -04:00
parent d0d387a42f
commit f7872d346b
11 changed files with 625 additions and 165 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
guilib/src/AboutDialog.cpp
View File

@@ -95,6 +95,14 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_cvsba->setText(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?"Yes":"No");
_ui->label_cvsba_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?true:false);
#ifdef RTABMAP_POINTMATCHER
_ui->label_libpointmatcher->setText("Yes");
_ui->label_libpointmatcher_license->setEnabled(true);
#else
_ui->label_libpointmatcher->setText("No");
_ui->label_libpointmatcher_license->setEnabled(false);
#endif
#ifdef RTABMAP_FOVIS
_ui->label_fovis->setText("Yes");
_ui->label_fovis_license->setEnabled(true);

24
guilib/src/PreferencesDialog.cpp
View File

@@ -238,6 +238,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
{
_ui->graphOptimization_robust->setEnabled(false);
}
#ifndef RTABMAP_POINTMATCHER
_ui->groupBox_libpointmatcher->setEnabled(false);
#endif
if(!CameraOpenni::available())
{
_ui->comboBox_cameraRGBD->setItemData(0, 0, Qt::UserRole - 1);
@@ -856,6 +859,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icpPointToPlane->setObjectName(Parameters::kIcpPointToPlane().c_str());
_ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneNormalNeighbors().c_str());
_ui->groupBox_libpointmatcher->setObjectName(Parameters::kIcpPM().c_str());
_ui->lineEdit_IcpPMConfigPath->setObjectName(Parameters::kIcpPMConfig().c_str());
connect(_ui->toolButton_IcpConfigPath, SIGNAL(clicked()), this, SLOT(changeIcpPMConfigPath()));
// Occupancy grid
_ui->groupBox_grid_3d->setObjectName(Parameters::kGrid3D().c_str());
_ui->checkBox_grid_groundObstacle->setObjectName(Parameters::kGridGroundIsObstacle().c_str());
@@ -4051,6 +4058,23 @@ void PreferencesDialog::changeOdometryORBSLAM2Vocabulary()
}
}
void PreferencesDialog::changeIcpPMConfigPath()
{
QString path;
if(_ui->lineEdit_IcpPMConfigPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("libpointmatcher (*.yaml)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_IcpPMConfigPath->text(), tr("libpointmatcher (*.yaml)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_IcpPMConfigPath->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);

123
guilib/src/ui/aboutDialog.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>831</width>
<height>832</height>
<width>861</width>
<height>902</height>
</rect>
</property>
<property name="sizePolicy">
@@ -161,6 +161,19 @@ p, li { white-space: pre-wrap; }
</item>
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="17" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_pcl_license">
<property name="text">
@@ -230,20 +243,27 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_octomap">
<item row="4" column="0">
<widget class="QLabel" name="label_79">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
<string>Qt version :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="17" column="0">
<item row="1" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>OpenCV version :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
@@ -253,7 +273,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="1">
<item row="18" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text">
<string/>
@@ -266,7 +286,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="0">
<item row="19" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
@@ -286,7 +306,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
@@ -296,7 +316,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="1">
<item row="21" column="1">
<widget class="QLabel" name="label_dvo">
<property name="text">
<string/>
@@ -309,7 +329,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<item row="22" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>With ORB SLAM 2 :</string>
@@ -319,7 +339,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="1">
<item row="22" column="1">
<widget class="QLabel" name="label_orbslam2">
<property name="text">
<string/>
@@ -365,7 +385,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="1">
<item row="19" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
<string/>
@@ -378,7 +398,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="0">
<item row="20" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
@@ -457,16 +477,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_7">
<property name="text">
<string>OpenCV version :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
@@ -658,7 +668,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="2">
<item row="17" column="2">
<widget class="QLabel" name="label_octomap_license">
<property name="text">
<string>BSD</string>
@@ -668,7 +678,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="2">
<item row="18" column="2">
<widget class="QLabel" name="label_cputsdf_license">
<property name="text">
<string>BSD</string>
@@ -678,7 +688,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="2">
<item row="19" column="2">
<widget class="QLabel" name="label_fovis_license">
<property name="text">
<string>GPLv2</string>
@@ -688,7 +698,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="2">
<item row="20" column="2">
<widget class="QLabel" name="label_viso2_license">
<property name="text">
<string>GPLv3</string>
@@ -698,7 +708,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="2">
<item row="21" column="2">
<widget class="QLabel" name="label_dvo_license">
<property name="text">
<string>GPLv3</string>
@@ -761,7 +771,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="1">
<item row="20" column="1">
<widget class="QLabel" name="label_viso2">
<property name="text">
<string/>
@@ -774,7 +784,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="0">
<item row="21" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>With DVO :</string>
@@ -784,16 +794,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_79">
<property name="text">
<string>Qt version :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_qt_license">
<property name="text">
@@ -847,7 +847,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="2">
<item row="22" column="2">
<widget class="QLabel" name="label_orbslam2_license">
<property name="text">
<string>GPLv3</string>
@@ -857,6 +857,39 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="2">
<widget class="QLabel" name="label_libpointmatcher_license">
<property name="text">
<string>BSD</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>With libpointmatcher :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_libpointmatcher">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>

172
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,25 +63,16 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-310</y>
<width>678</width>
<height>2739</height>
<height>2736</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -95,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>20</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4530,16 +4521,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -11561,22 +11543,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_415">
<property name="text">
<string>Path to ORB vocabulary (*.txt).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_OdomORBSLAM2VocPath"/>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_414">
<property name="text">
@@ -11625,6 +11591,22 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_OdomORBSLAM2VocPath"/>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_415">
<property name="text">
<string>Path to ORB vocabulary (*.txt).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_OdomORBSLAM2VocPath">
<property name="text">
@@ -11835,7 +11817,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QStackedWidget" name="stackedWidget_odometryFiltering">
<property name="currentIndex">
<number>2</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_31">
<layout class="QVBoxLayout" name="verticalLayout_84"/>
@@ -12491,16 +12473,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -12640,16 +12613,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -12807,16 +12771,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -12896,16 +12851,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -13017,16 +12963,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -13763,6 +13700,61 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_libpointmatcher">
<property name="title">
<string>libpointmatcher</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_126">
<item>
<widget class="QLabel" name="label_422">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;libpointmatcher: &lt;a href=&quot;https://github.com/ethz-asl/libpointmatcher&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/ethz-asl/libpointmatcher&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;libpointmatcher is a modular library implementing the Iterative Closest Point (ICP) algorithm for aligning point clouds. It has applications in robotics and computer vision. When enabled, libpointmatcher is used for ICP registration instead of PCL's implementation.&lt;/p&gt;&lt;p&gt;Below we can set a &lt;a href=&quot;https://github.com/ethz-asl/libpointmatcher/blob/master/doc/Configuration.md&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;configuration file&lt;/span&gt;&lt;/a&gt; (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., voxel filtering or downsampling above), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Maximum iterations, epsilon and max correspondence distance parameters are also ignored if configuration file is set.&lt;br/&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<widget class="QToolButton" name="toolButton_IcpConfigPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_IcpPMConfigPath"/>
</item>
<item>
<widget class="QLabel" name="label_423">
<property name="text">
<string>Configuration file (*.yaml).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>