mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-06 18:17:47 +08:00
matlabbe
1ea8fa2e06
* New rtabmap-reduceGraph CLI tool * fixed some edge cases * Regenerating optimized map if there was one before reducing the graph * addMoreLoopClosures: refactored how ctrl-c is handled to stop faster when no loop closures are added * Added kilted status * Make offline tool always propagate neighbor merged links * removed a parameter * fixed disconnected graph * fixed --help * Added error log on Kp/NNStrategy not compatible with huge vocabulary. ReduceGraph/DetectMoreLoopClosures: Make sure original parameters are saved back on closing. g2o: fixing optimizer to Levenberg for SBA to avoid [SetJac] infinite jac fatal error. * exposing neighbor merged ratio parameter to the tool * show param in log * refactored detectMoreLoopClosures to ignore too close nodes in terms of neighbor links based on Mem/STMSize parameter. Reduce graph: added direction parameter. * Simplified: removed ratio parameter, removed recursive reduction. Just don't reduce if a NM link is longer than maxDistance. * Removed NNStrategy override, as it was still done on closing when we changed back to original params * DBViewer: show missing links when showing OptimizedPoses in GraphView, fixed clicking on landmark links * DetectMoreLoopClosures: Added support for min graph distance option in MainWindow and DbViewer * slight renaming of ROS jobs * reprocess: added option --params_last
108 lines
3.4 KiB
C++
108 lines
3.4 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef RTABMAP_POSTPROCESSINGDIALOG_H_
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#define RTABMAP_POSTPROCESSINGDIALOG_H_
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#include "rtabmap/gui/rtabmap_gui_export.h" // DLL export/import defines
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#include <QDialog>
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#include <QtCore/QSettings>
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#include <rtabmap/core/Optimizer.h>
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class Ui_PostProcessingDialog;
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class QAbstractButton;
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namespace rtabmap {
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class RTABMAP_GUI_EXPORT PostProcessingDialog : public QDialog
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{
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Q_OBJECT
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public:
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PostProcessingDialog(QWidget * parent = 0);
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virtual ~PostProcessingDialog();
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void saveSettings(QSettings & settings, const QString & group = "") const;
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void loadSettings(QSettings & settings, const QString & group = "");
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//getters
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bool isDetectMoreLoopClosures() const;
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double clusterRadius() const;
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double clusterAngle() const;
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int iterations() const;
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bool intraSession() const;
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bool interSession() const;
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int minGraphDistance() const;
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bool isRefineNeighborLinks() const;
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bool isRefineLoopClosureLinks() const;
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bool isSBA() const;
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int sbaIterations() const;
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double sbaVariance() const;
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Optimizer::Type sbaType() const;
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bool sbaRematchFeatures() const;
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//setters
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void setDetectMoreLoopClosures(bool on);
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void setClusterRadius(double radius);
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void setClusterAngle(double angle);
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void setIterations(int iterations);
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void setIntraSession(bool enabled);
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void setInterSession(bool enabled);
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void setMinGraphDistance(int value);
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void setRefineNeighborLinks(bool on);
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void setRefineLoopClosureLinks(bool on);
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void setSBA(bool on);
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void setSBAIterations(int iterations);
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void setSBAVariance(double variance);
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void setSBAType(Optimizer::Type type);
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void setSBARematchFeatures(bool value);
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Q_SIGNALS:
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void configChanged();
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public Q_SLOTS:
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void closeDialog ( QAbstractButton * button );
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void restoreDefaults();
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private Q_SLOTS:
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void updateVisibility();
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void updateButtonBox();
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private:
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bool validateForm();
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private:
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Ui_PostProcessingDialog * _ui;
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};
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}
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#endif /* POSTPROCESSINGDIALOG_H_ */
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