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Added LccBow/VarianceFromInliersCount parameter (linked with Odom/VarianceFromInliersCount in standalone gui)

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This commit is contained in:
matlabbe
2015-10-02 10:40:18 -04:00
parent ee76a02117
commit fbf967066a
13 changed files with 117 additions and 78 deletions
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2
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -208,7 +208,7 @@ public:
double getSimThr() const;
int getOdomStrategy() const;
int getOdomBufferSize() const;
bool getOdomVarianceFromInliersCount() const;
bool getLccBowVarianceFromInliersCount() const;
QString getCameraInfoDir() const; // "workinfDir/camera_info"
//

4
guilib/src/MainWindow.cpp
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@@ -2931,7 +2931,7 @@ void MainWindow::startDetection()
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize(), _preferencesDialog->getOdomVarianceFromInliersCount());
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
UEventsManager::addHandler(_odomThread);
UEventsManager::createPipe(_camera, _odomThread, "CameraEvent");
@@ -2968,7 +2968,7 @@ void MainWindow::startDetection()
{
odom = new OdometryBOW(parameters);
}
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize(), _preferencesDialog->getOdomVarianceFromInliersCount());
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
UEventsManager::addHandler(_odomThread);
_odomThread->start();

21
guilib/src/PreferencesDialog.cpp
View File

@@ -608,6 +608,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bowEpipolarGeometryVar->setObjectName(Parameters::kLccBowEpipolarGeometryVar().c_str());
_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kLccBowPnPReprojError().c_str());
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kLccBowPnPFlags().c_str());
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kLccBowVarianceFromInliersCount().c_str());
_ui->groupBox_reextract->setObjectName(Parameters::kLccReextractActivated().c_str());
_ui->reextract_nn->setObjectName(Parameters::kLccReextractNNType().c_str());
@@ -651,6 +652,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
_ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str());
_ui->odom_varianceFromInliersCount->setObjectName(Parameters::kOdomVarianceFromInliersCount().c_str());
connect(_ui->odom_varianceFromInliersCount, SIGNAL(clicked(bool)), _ui->loopClosure_bowVarianceFromInliersCount, SLOT(setChecked(bool)));
connect(_ui->loopClosure_bowVarianceFromInliersCount, SIGNAL(clicked(bool)), _ui->odom_varianceFromInliersCount, SLOT(setChecked(bool)));
_ui->lineEdit_odom_roi->setObjectName(Parameters::kOdomRoiRatios().c_str());
_ui->odom_estimationType->setObjectName(Parameters::kOdomEstimationType().c_str());
connect(_ui->odom_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odomEstimation, SLOT(setCurrentIndex(int)));
@@ -1938,6 +1941,17 @@ bool PreferencesDialog::validateForm()
_ui->odom_bin_nn->setCurrentIndex(VWDictionary::kNNBruteForce);
}
if(_ui->groupBox_odometry1->isEnabled() &&
_ui->loopClosure_bowVarianceFromInliersCount->isChecked() != _ui->odom_varianceFromInliersCount->isChecked())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Odometry %1 variance from inliers count but Loop Closure constraint %2. "
"Applying the same parameter to Loop Closure Constraint.")
.arg(_ui->odom_varianceFromInliersCount->isChecked()?tr("uses"):tr("does not use"))
.arg(_ui->odom_varianceFromInliersCount->isChecked()?tr("does not"):tr("does")));
_ui->loopClosure_bowVarianceFromInliersCount->setChecked(_ui->odom_varianceFromInliersCount->isChecked());
}
return true;
}
@@ -3745,9 +3759,9 @@ int PreferencesDialog::getOdomBufferSize() const
{
return _ui->odom_dataBufferSize->value();
}
bool PreferencesDialog::getOdomVarianceFromInliersCount() const
bool PreferencesDialog::getLccBowVarianceFromInliersCount() const
{
return _ui->odom_varianceFromInliersCount->isChecked();
return _ui->loopClosure_bowVarianceFromInliersCount->isChecked();
}
QString PreferencesDialog::getCameraInfoDir() const
@@ -3888,8 +3902,7 @@ void PreferencesDialog::testOdometry(int type)
OdometryThread odomThread(
odometry, // take ownership of odometry
_ui->odom_dataBufferSize->value(),
_ui->odom_varianceFromInliersCount->isChecked());
_ui->odom_dataBufferSize->value());
odomThread.registerToEventsManager();
OdometryViewer * odomViewer = new OdometryViewer(10,

126
guilib/src/ui/preferencesDialog.ui
View File

@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>23</number>
<number>20</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -7105,32 +7105,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
<item>
<layout class="QGridLayout" name="gridLayout_23" columnstretch="0,1">
<item row="1" column="0">
<widget class="QSpinBox" name="loopClosure_bowMinInliers">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Minimum visual word correspondences to accept the estimated transformation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="loopClosure_bowForce2D">
<property name="text">
@@ -7138,32 +7112,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="loopClosure_bowIterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Maximum RANSAC iterations.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="globalDetection_icpType">
<property name="sizeAdjustPolicy">
@@ -7199,6 +7147,58 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="loopClosure_bowMinInliers">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Minimum visual word correspondences to accept the estimated transformation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="loopClosure_bowIterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Maximum RANSAC iterations.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_57">
<property name="text">
@@ -7244,6 +7244,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_262">
<property name="text">
<string>Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="loopClosure_bowVarianceFromInliersCount">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>