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Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)

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This commit is contained in:
matlabbe
2015-12-11 17:44:15 -05:00
parent 818eda005f
commit 9cc94ce1e6
44 changed files with 6866 additions and 4311 deletions
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corelib/src/Parameters.cpp
+30 -2
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@@ -118,6 +118,21 @@ rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo)
return odomParameters;
}
ParametersMap Parameters::getDefaultParameters(const std::string & group)
{
rtabmap::ParametersMap parameters;
const rtabmap::ParametersMap & defaultParameters = rtabmap::Parameters::getDefaultParameters();
for(rtabmap::ParametersMap::const_iterator iter=defaultParameters.begin(); iter!=defaultParameters.end(); ++iter)
{
if(iter->first.compare(group) == 0)
{
parameters.insert(*iter);
}
}
UASSERT_MSG(parameters.size(), uFormat("No parameters found for group %s!", group.c_str()).c_str());
return parameters;
}
const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemovedParameters()
{
if(removedParameters_.empty())
@@ -201,6 +216,8 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("RGBD/OptimizeSlam2D", std::make_pair(true, Parameters::kOptimizerSlam2D())));
removedParameters_.insert(std::make_pair("RGBD/OptimizeVarianceIgnored", std::make_pair(true, Parameters::kOptimizerVarianceIgnored())));
removedParameters_.insert(std::make_pair("Stereo/WinSize", std::make_pair(true, Parameters::kStereoWinWidth())));
// before 0.11.0
removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
@@ -270,7 +287,7 @@ void Parameters::parse(const ParametersMap & parameters, const std::string & key
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = atoi(iter->second.c_str());
value = uStr2Int(iter->second.c_str());
}
}
void Parameters::parse(const ParametersMap & parameters, const std::string & key, unsigned int & value)
@@ -278,7 +295,7 @@ void Parameters::parse(const ParametersMap & parameters, const std::string & key
ParametersMap::const_iterator iter = parameters.find(key);
if(iter != parameters.end())
{
value = atoi(iter->second.c_str());
value = uStr2Int(iter->second.c_str());
}
}
void Parameters::parse(const ParametersMap & parameters, const std::string & key, float & value)
@@ -305,6 +322,17 @@ void Parameters::parse(const ParametersMap & parameters, const std::string & key
value = iter->second;
}
}
void Parameters::parse(const ParametersMap & parameters, ParametersMap & parametersOut)
{
for(ParametersMap::iterator iter=parametersOut.begin(); iter!=parametersOut.end(); ++iter)
{
ParametersMap::const_iterator jter = parameters.find(iter->first);
if(jter != parameters.end())
{
iter->second = jter->second;
}
}
}
void Parameters::readINI(const std::string & configFile, ParametersMap & parameters)