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Added Monocular SLAM (experimental), Odometry classes refactoring

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This commit is contained in:
Mathieu Labbe
2015-04-23 22:01:41 -04:00
parent 39dce825d6
commit fa3a2421f6
39 changed files with 4138 additions and 2702 deletions
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24
guilib/src/PreferencesDialog.cpp
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@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/OdometryThread.h"
#include "rtabmap/core/CameraRGBD.h"
#include "rtabmap/core/CameraThread.h"
#include "rtabmap/core/Camera.h"
@@ -302,6 +303,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->openni2_exposure, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_gain, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->openni2_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniDevice, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_openniLocalTransform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
@@ -425,7 +427,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->fastKeypointRatio->setObjectName(Parameters::kFASTGpuKeypointsRatio().c_str());
//ORB detector
_ui->spinBox_ORBNFeatures->setObjectName(Parameters::kORBNFeatures().c_str());
_ui->doubleSpinBox_ORBScaleFactor->setObjectName(Parameters::kORBScaleFactor().c_str());
_ui->spinBox_ORBNLevels->setObjectName(Parameters::kORBNLevels().c_str());
_ui->spinBox_ORBEdgeThreshold->setObjectName(Parameters::kORBEdgeThreshold().c_str());
@@ -442,7 +443,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_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());
@@ -489,6 +489,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bowIterations->setObjectName(Parameters::kLccBowIterations().c_str());
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kLccBowMaxDepth().c_str());
_ui->loopClosure_bowForce2D->setObjectName(Parameters::kLccBowForce2D().c_str());
_ui->loopClosure_bowEpipolarGeometry->setObjectName(Parameters::kLccBowEpipolarGeometry().c_str());
_ui->loopClosure_bowEpipolarGeometryVar->setObjectName(Parameters::kLccBowEpipolarGeometryVar().c_str());
_ui->groupBox_reextract->setObjectName(Parameters::kLccReextractActivated().c_str());
_ui->reextract_nn->setObjectName(Parameters::kLccReextractNNType().c_str());
@@ -546,6 +548,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_subpix_iterations->setObjectName(Parameters::kOdomSubPixIterations().c_str());
_ui->odom_subpix_eps->setObjectName(Parameters::kOdomSubPixEps().c_str());
//Odometry Mono
_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());
_ui->doubleSpinBox_minInitTranslation->setObjectName(Parameters::kOdomMonoInitMinTranslation().c_str());
_ui->doubleSpinBox_minTranslation->setObjectName(Parameters::kOdomMonoMinTranslation().c_str());
_ui->doubleSpinBox_maxVariance->setObjectName(Parameters::kOdomMonoMaxVariance().c_str());
//Stereo
_ui->stereo_flow_winSize->setObjectName(Parameters::kStereoWinSize().c_str());
_ui->stereo_flow_maxLevel->setObjectName(Parameters::kStereoMaxLevel().c_str());
@@ -944,6 +952,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->openni2_exposure->setValue(0);
_ui->openni2_gain->setValue(100);
_ui->openni2_mirroring->setChecked(false);
_ui->checkbox_rgbd_colorOnly->setChecked(false);
_ui->lineEdit_openniDevice->setText("");
_ui->lineEdit_openniLocalTransform->setText("0 0 0 -PI_2 0 -PI_2");
}
@@ -1204,6 +1213,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->openni2_exposure->setValue(settings.value("openni2Exposure", _ui->openni2_exposure->value()).toInt());
_ui->openni2_gain->setValue(settings.value("openni2Gain", _ui->openni2_gain->value()).toInt());
_ui->openni2_mirroring->setChecked(settings.value("openni2Mirroring", _ui->openni2_mirroring->isChecked()).toBool());
_ui->checkbox_rgbd_colorOnly->setChecked(settings.value("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked()).toBool());
_ui->lineEdit_openniDevice->setText(settings.value("device",_ui->lineEdit_openniDevice->text()).toString());
_ui->lineEdit_openniLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_openniLocalTransform->text()).toString());
_calibrationDialog->loadSettings(settings, "CalibrationDialog");
@@ -1469,6 +1479,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("openni2Exposure", _ui->openni2_exposure->value());
settings.setValue("openni2Gain", _ui->openni2_gain->value());
settings.setValue("openni2Mirroring", _ui->openni2_mirroring->isChecked());
settings.setValue("rgbdColorOnly", _ui->checkbox_rgbd_colorOnly->isChecked());
settings.setValue("device", _ui->lineEdit_openniDevice->text());
settings.setValue("localTransform", _ui->lineEdit_openniLocalTransform->text());
_calibrationDialog->saveSettings(settings, "CalibrationDialog");
@@ -3054,6 +3065,10 @@ bool PreferencesDialog::getSourceOpenni2Mirroring() const
{
return _ui->openni2_mirroring->isChecked();
}
bool PreferencesDialog::isSourceRGBDColorOnly() const
{
return _ui->checkbox_rgbd_colorOnly->isChecked();
}
QString PreferencesDialog::getSourceOpenniDevice() const
{
return _ui->lineEdit_openniDevice->text();
@@ -3288,6 +3303,7 @@ void PreferencesDialog::testOdometry(int type)
}
}
camera->setMirroringEnabled(isSourceMirroring());
camera->setColorOnly(isSourceRGBDColorOnly());
ParametersMap parameters = this->getAllParameters();
Odometry * odometry;
@@ -3295,6 +3311,10 @@ void PreferencesDialog::testOdometry(int type)
{
odometry = new OdometryOpticalFlow(parameters);
}
else if(this->getOdomStrategy() == 2)
{
odometry = new OdometryMono(parameters);
}
else
{
odometry = new OdometryBOW(parameters);