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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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21
guilib/src/PreferencesDialog.cpp
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@@ -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,