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Implemented OptimizerG2O::optimimzeBA(). Updated PostProcessingDialog (g2o sba option). Fixed words descriptors not filled in rtabmap::getMap3D(). CameraModelD(): return 5 null coeff distorsions if not set

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This commit is contained in:
matlabbe
2016-03-28 18:19:17 -04:00
parent 18759e7197
commit 8030d89634
16 changed files with 556 additions and 293 deletions
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guilib/src/PostProcessingDialog.cpp
+26 -34
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@@ -39,11 +39,21 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
_ui = new Ui_PostProcessingDialog();
_ui->setupUi(this);
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA))
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA) && !Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->sba->setEnabled(false);
_ui->sba->setChecked(false);
}
else if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
_ui->comboBox_sbaType->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(0);
}
else if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->comboBox_sbaType->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
}
restoreDefaults();
@@ -57,15 +67,13 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
connect(_ui->clusterRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->clusterAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->reextractFeatures, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineNeighborLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->refineLoopClosureLinks, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->sba, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->sba_iterations, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->sba_epsilon, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->sba_minInlierDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->sba_minInliers, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_sbaType, SIGNAL(indexChanged(int)), this, SIGNAL(configChanged()));
}
PostProcessingDialog::~PostProcessingDialog()
@@ -83,14 +91,12 @@ void PostProcessingDialog::saveSettings(QSettings & settings, const QString & gr
settings.setValue("cluster_radius", this->clusterRadius());
settings.setValue("cluster_angle", this->clusterAngle());
settings.setValue("iterations", this->iterations());
settings.setValue("reextract_features", this->isReextractFeatures());
settings.setValue("refine_neigbors", this->isRefineNeighborLinks());
settings.setValue("refine_lc", this->isRefineLoopClosureLinks());
settings.setValue("sba", this->isSBA());
settings.setValue("sba_iterations", this->sbaIterations());
settings.setValue("sba_epsilon", this->sbaEpsilon());
settings.setValue("sba_inlier_distance", this->sbaInlierDistance());
settings.setValue("sba_min_inliers", this->sbaMinInliers());
settings.setValue("sba_type", this->sbaType());
if(!group.isEmpty())
{
settings.endGroup();
@@ -107,14 +113,12 @@ void PostProcessingDialog::loadSettings(QSettings & settings, const QString & gr
this->setClusterRadius(settings.value("cluster_radius", this->clusterRadius()).toDouble());
this->setClusterAngle(settings.value("cluster_angle", this->clusterAngle()).toDouble());
this->setIterations(settings.value("iterations", this->iterations()).toInt());
this->setReextractFeatures(settings.value("reextract_features", this->isReextractFeatures()).toBool());
this->setRefineNeighborLinks(settings.value("refine_neigbors", this->isRefineNeighborLinks()).toBool());
this->setRefineLoopClosureLinks(settings.value("refine_lc", this->isRefineLoopClosureLinks()).toBool());
this->setSBA(settings.value("sba", this->isSBA()).toBool());
this->setSBAIterations(settings.value("sba_iterations", this->sbaIterations()).toInt());
this->setSBAEpsilon(settings.value("sba_epsilon", this->sbaEpsilon()).toDouble());
this->setSBAInlierDistance(settings.value("sba_inlier_distance", this->sbaInlierDistance()).toDouble());
this->setSBAMinInliers(settings.value("sba_min_inliers", this->sbaMinInliers()).toInt());
this->setSBAType((Optimizer::Type)settings.value("sba_type", this->sbaType()).toInt());
if(!group.isEmpty())
{
settings.endGroup();
@@ -127,14 +131,12 @@ void PostProcessingDialog::restoreDefaults()
setClusterRadius(0.5);
setClusterAngle(30);
setIterations(1);
setReextractFeatures(false);
setRefineNeighborLinks(false);
setRefineLoopClosureLinks(false);
setSBA(false);
setSBAIterations(20);
setSBAEpsilon(0.0001);
setSBAInlierDistance(0.05);
setSBAMinInliers(10);
setSBAType(!Optimizer::isAvailable(Optimizer::kTypeG2O)&&Optimizer::isAvailable(Optimizer::kTypeCVSBA)?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O);
}
void PostProcessingDialog::updateButtonBox()
@@ -163,11 +165,6 @@ int PostProcessingDialog::iterations() const
return _ui->iterations->value();
}
bool PostProcessingDialog::isReextractFeatures() const
{
return _ui->reextractFeatures->isChecked();
}
bool PostProcessingDialog::isRefineNeighborLinks() const
{
return _ui->refineNeighborLinks->isChecked();
@@ -191,13 +188,9 @@ double PostProcessingDialog::sbaEpsilon() const
{
return _ui->sba_epsilon->value();
}
double PostProcessingDialog::sbaInlierDistance() const
Optimizer::Type PostProcessingDialog::sbaType() const
{
return _ui->sba_minInlierDistance->value();
}
int PostProcessingDialog::sbaMinInliers() const
{
return _ui->sba_minInliers->value();
return _ui->comboBox_sbaType->currentIndex()==0?Optimizer::kTypeG2O:Optimizer::kTypeCVSBA;
}
//setters
@@ -217,10 +210,6 @@ void PostProcessingDialog::setIterations(int iterations)
{
_ui->iterations->setValue(iterations);
}
void PostProcessingDialog::setReextractFeatures(bool on)
{
_ui->reextractFeatures->setChecked(on);
}
void PostProcessingDialog::setRefineNeighborLinks(bool on)
{
_ui->refineNeighborLinks->setChecked(on);
@@ -241,13 +230,16 @@ void PostProcessingDialog::setSBAEpsilon(double epsilon)
{
_ui->sba_epsilon->setValue(epsilon);
}
void PostProcessingDialog::setSBAInlierDistance(double inlierDistance)
void PostProcessingDialog::setSBAType(Optimizer::Type type)
{
_ui->sba_minInlierDistance->setValue(inlierDistance);
}
void PostProcessingDialog::setSBAMinInliers(int minInliers)
{
_ui->sba_minInliers->setValue(minInliers);
if(type == Optimizer::kTypeCVSBA)
{
_ui->comboBox_sbaType->setCurrentIndex(1);
}
else
{
_ui->comboBox_sbaType->setCurrentIndex(0);
}
}