mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 16:57:46 +08:00
Added g2o optimization option (along with TORO). Some refactoring: updated graph optimization parameter names, new graph::Optimizer class and new parameter RGBD/OptimizeSlam2d
This commit is contained in:
Mathieu Labbe
+110
-39
@@ -89,6 +89,9 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
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ui_->dockWidget_visual->setVisible(false);
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ui_->dockWidget_stereoView->setVisible(false);
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ui_->dockWidget_view3d->setVisible(false);
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ui_->dockWidget_detectMoreLC->setVisible(false);
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ui_->dockWidget_graphOptimizer->setVisible(false);
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ui_->dockWidget_gridcloud->setVisible(false);
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ui_->constraintsViewer->setCameraLockZ(false);
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ui_->constraintsViewer->setCameraFree();
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@@ -101,6 +104,9 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
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ui_->menuView->addAction(ui_->dockWidget_visual->toggleViewAction());
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ui_->menuView->addAction(ui_->dockWidget_stereoView->toggleViewAction());
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ui_->menuView->addAction(ui_->dockWidget_view3d->toggleViewAction());
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ui_->menuView->addAction(ui_->dockWidget_detectMoreLC->toggleViewAction());
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ui_->menuView->addAction(ui_->dockWidget_graphOptimizer->toggleViewAction());
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ui_->menuView->addAction(ui_->dockWidget_gridcloud->toggleViewAction());
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connect(ui_->dockWidget_graphView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
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connect(ui_->actionQuit, SIGNAL(triggered()), this, SLOT(close()));
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@@ -162,26 +168,33 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
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connect(ui_->horizontalSlider_iterations, SIGNAL(valueChanged(int)), this, SLOT(sliderIterationsValueChanged(int)));
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connect(ui_->horizontalSlider_iterations, SIGNAL(sliderMoved(int)), this, SLOT(sliderIterationsValueChanged(int)));
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connect(ui_->spinBox_iterations, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
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connect(ui_->spinBox_optimizationsFrom, SIGNAL(valueChanged(int)), this, SLOT(updateGraphView()));
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connect(ui_->checkBox_initGuess, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
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connect(ui_->spinBox_optimizationsFrom, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
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connect(ui_->checkBox_ignoreCovariance, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
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connect(ui_->checkBox_gridFromProjection, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
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connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGraphView()));
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connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
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connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(updateGrid()));
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connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
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connect(ui_->spinBox_projDecimation, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
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connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
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// connect configuration changed
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connect(ui_->graphViewer, SIGNAL(configChanged()), this, SLOT(configModified()));
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//connect(ui_->graphicsView_A, SIGNAL(configChanged()), this, SLOT(configModified()));
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//connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
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// Graph view
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connect(ui_->spinBox_iterations, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_initGuess, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_ignoreCovariance, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_gridFromProjection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->comboBox_graphOptimizer, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_2dslam, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->groupBox_gridFromProjection, SIGNAL(clicked(bool)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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// ICP parameters
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connect(ui_->spinBox_icp_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_icp_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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@@ -192,9 +205,10 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
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connect(ui_->spinBox_icp_normalKSearch, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_icp_2d, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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// Visual parameters
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connect(ui_->checkBox_visual_recomputeFeatures, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->groupBox_visual_recomputeFeatures, SIGNAL(clicked(bool)), this, SLOT(configModified()));
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connect(ui_->comboBox_featureType, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
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connect(ui_->comboBox_nnType, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
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connect(ui_->checkBox_visual_2d, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_visual_hessian, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_visual_nndr, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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connect(ui_->spinBox_visual_minCorrespondences, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
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connect(ui_->doubleSpinBox_visual_maxCorrespDistance, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
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@@ -216,6 +230,9 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
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ui_->dockWidget_stereoView->installEventFilter(this);
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ui_->dockWidget_visual->installEventFilter(this);
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ui_->dockWidget_view3d->installEventFilter(this);
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ui_->dockWidget_detectMoreLC->installEventFilter(this);
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ui_->dockWidget_graphOptimizer->installEventFilter(this);
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ui_->dockWidget_gridcloud->installEventFilter(this);
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}
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DatabaseViewer::~DatabaseViewer()
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@@ -263,15 +280,23 @@ void DatabaseViewer::readSettings()
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savedMaximized_ = settings.value("maximized", false).toBool();
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// GraphViewer settings
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settings.beginGroup("GraphView");
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ui_->graphViewer->loadSettings(settings);
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ui_->graphViewer->loadSettings(settings, "GraphView");
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settings.beginGroup("optimization");
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ui_->spinBox_iterations->setValue(settings.value("iterations", ui_->spinBox_iterations->value()).toInt());
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ui_->checkBox_initGuess->setChecked(settings.value("initGuess", ui_->checkBox_initGuess->isChecked()).toBool());
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ui_->checkBox_ignoreCovariance->setChecked(settings.value("ignoreCovariance", ui_->checkBox_ignoreCovariance->isChecked()).toBool());
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ui_->checkBox_gridFromProjection->setChecked(settings.value("gridFromProj", ui_->checkBox_gridFromProjection->isChecked()).toBool());
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ui_->comboBox_graphOptimizer->setCurrentIndex(settings.value("strategy", ui_->comboBox_graphOptimizer->currentIndex()).toInt());
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ui_->checkBox_2dslam->setChecked(settings.value("slam2d", ui_->checkBox_2dslam->isChecked()).toBool());
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settings.endGroup();
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settings.beginGroup("grid");
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ui_->groupBox_gridFromProjection->setChecked(settings.value("gridFromProj", ui_->groupBox_gridFromProjection->isChecked()).toBool());
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ui_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
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ui_->spinBox_projDecimation->setValue(settings.value("projDecimation", ui_->spinBox_projDecimation->value()).toInt());
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ui_->doubleSpinBox_projMaxDepth->setValue(settings.value("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value()).toDouble());
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ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
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ui_->doubleSpinBox_posefilteringRadius->setValue(settings.value("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value()).toDouble());
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ui_->doubleSpinBox_posefilteringAngle->setValue(settings.value("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value()).toDouble());
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settings.endGroup();
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// ImageViews
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@@ -292,9 +317,10 @@ void DatabaseViewer::readSettings()
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// Visual parameters
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settings.beginGroup("visual");
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ui_->checkBox_visual_recomputeFeatures->setChecked(settings.value("reextract", ui_->checkBox_visual_recomputeFeatures->isChecked()).toBool());
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ui_->groupBox_visual_recomputeFeatures->setChecked(settings.value("reextract", ui_->groupBox_visual_recomputeFeatures->isChecked()).toBool());
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ui_->comboBox_featureType->setCurrentIndex(settings.value("featureType", ui_->comboBox_featureType->currentIndex()).toInt());
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ui_->comboBox_nnType->setCurrentIndex(settings.value("nnType", ui_->comboBox_nnType->currentIndex()).toInt());
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ui_->checkBox_visual_2d->setChecked(settings.value("force2d", ui_->checkBox_visual_2d->isChecked()).toBool());
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ui_->doubleSpinBox_visual_hessian->setValue(settings.value("hessian", ui_->doubleSpinBox_visual_hessian->value()).toDouble());
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ui_->doubleSpinBox_visual_nndr->setValue(settings.value("nndr", ui_->doubleSpinBox_visual_nndr->value()).toDouble());
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ui_->spinBox_visual_minCorrespondences->setValue(settings.value("minCorr", ui_->spinBox_visual_minCorrespondences->value()).toInt());
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ui_->doubleSpinBox_visual_maxCorrespDistance->setValue(settings.value("maxCorrDist", ui_->doubleSpinBox_visual_maxCorrespDistance->value()).toDouble());
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@@ -324,15 +350,25 @@ void DatabaseViewer::writeSettings()
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savedMaximized_ = this->isMaximized();
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// save GraphViewer settings
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settings.beginGroup("GraphView");
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ui_->graphViewer->saveSettings(settings);
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ui_->graphViewer->saveSettings(settings, "GraphView");
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// save optimization settings
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settings.beginGroup("optimization");
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settings.setValue("iterations", ui_->spinBox_iterations->value());
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settings.setValue("initGuess", ui_->checkBox_initGuess->isChecked());
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settings.setValue("ignoreCovariance", ui_->checkBox_ignoreCovariance->isChecked());
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settings.setValue("gridFromProj", ui_->checkBox_gridFromProjection->isChecked());
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settings.setValue("strategy", ui_->comboBox_graphOptimizer->currentIndex());
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settings.setValue("slam2d", ui_->checkBox_2dslam->isChecked());
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settings.endGroup();
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// save Grid settings
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settings.beginGroup("grid");
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settings.setValue("gridFromProj", ui_->groupBox_gridFromProjection->isChecked());
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settings.setValue("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
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settings.setValue("projDecimation", ui_->spinBox_projDecimation->value());
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settings.setValue("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value());
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settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
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settings.setValue("poseFilteringRadius", ui_->doubleSpinBox_posefilteringRadius->value());
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settings.setValue("poseFilteringAngle", ui_->doubleSpinBox_posefilteringAngle->value());
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settings.endGroup();
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// ImageViews
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@@ -353,9 +389,10 @@ void DatabaseViewer::writeSettings()
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// save Visual parameters
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settings.beginGroup("visual");
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settings.setValue("reextract", ui_->checkBox_visual_recomputeFeatures->isChecked());
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settings.setValue("reextract", ui_->groupBox_visual_recomputeFeatures->isChecked());
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settings.setValue("featureType", ui_->comboBox_featureType->currentIndex());
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settings.setValue("nnType", ui_->comboBox_nnType->currentIndex());
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settings.setValue("force2d", ui_->checkBox_visual_2d->isChecked());
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settings.setValue("hessian", ui_->doubleSpinBox_visual_hessian->value());
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settings.setValue("nndr", ui_->doubleSpinBox_visual_nndr->value());
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settings.setValue("minCorr", ui_->spinBox_visual_minCorrespondences->value());
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settings.setValue("maxCorrDist", ui_->doubleSpinBox_visual_maxCorrespDistance->value());
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@@ -678,6 +715,7 @@ void DatabaseViewer::updateIds()
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linksAdded_.clear();
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linksRefined_.clear();
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linksRemoved_.clear();
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ui_->label_optimizeFrom->setText(tr("Optimize from"));
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if(memory_->getLastWorkingSignature())
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{
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//get constraints only for parent links
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@@ -710,7 +748,8 @@ void DatabaseViewer::updateIds()
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int first = *ids.begin();
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ui_->spinBox_optimizationsFrom->setRange(first, memory_->getLastWorkingSignature()->id());
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ui_->spinBox_optimizationsFrom->setValue(first);
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ui_->spinBox_optimizationsFrom->setValue(memory_->getLastWorkingSignature()->id());
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ui_->label_optimizeFrom->setText(tr("Optimize from [%1, %2]").arg(first).arg(memory_->getLastWorkingSignature()->id()));
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}
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}
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@@ -851,7 +890,7 @@ void DatabaseViewer::generateTOROGraph()
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QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/constraints" + QString::number(id) + ".graph", tr("TORO file (*.graph)"));
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if(!path.isEmpty())
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{
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rtabmap::graph::saveTOROGraph(path.toStdString(), uValueAt(graphes_, id), links);
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graph::TOROOptimizer::saveGraph(path.toStdString(), uValueAt(graphes_, id), links);
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}
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}
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}
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@@ -2080,7 +2119,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
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{
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UTimer time;
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bool added = false;
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if(ui_->checkBox_gridFromProjection->isChecked())
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if(ui_->groupBox_gridFromProjection->isChecked())
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{
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Signature data = memory_->getSignatureData(ids_.at(i), true);
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if(!data.getDepthRaw().empty())
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@@ -2159,13 +2198,28 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
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std::map<int, rtabmap::Transform> & graph = uValueAt(graphes_, value);
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std::multimap<int, Link> links = updateLinksWithModifications(links_);
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ui_->graphViewer->updateGraph(graph, links);
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if(graph.size() && localMaps_.size())
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if(graph.size() && localMaps_.size() && ui_->graphViewer->isGridMapVisible())
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{
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float xMin, yMin;
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float cell = ui_->doubleSpinBox_gridCellSize->value();
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cv::Mat map = rtabmap::util3d::convertMap2Image8U(rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graph, localMaps_, cell, xMin, yMin));
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ui_->graphViewer->updateMap(map, cell, xMin, yMin);
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cv::Mat map;
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if(ui_->groupBox_posefiltering->isChecked())
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{
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std::map<int, rtabmap::Transform> graphFiltered = graph::radiusPosesFiltering(graph,
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ui_->doubleSpinBox_posefilteringRadius->value(),
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ui_->doubleSpinBox_posefilteringAngle->value()*CV_PI/180.0);
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map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graphFiltered, localMaps_, cell, xMin, yMin);
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}
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else
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{
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map = rtabmap::util3d::create2DMapFromOccupancyLocalMaps(graph, localMaps_, cell, xMin, yMin);
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}
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if(!map.empty())
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{
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ui_->graphViewer->updateMap(rtabmap::util3d::convertMap2Image8U(map), cell, xMin, yMin);
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}
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}
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ui_->graphViewer->update();
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ui_->label_iterations->setNum(value);
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//compute total length (neighbor links)
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@@ -2209,16 +2263,31 @@ void DatabaseViewer::updateGraphView()
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graphes_.push_back(poses_);
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ui_->actionGenerate_TORO_graph_graph->setEnabled(true);
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std::multimap<int, rtabmap::Link> links = updateLinksWithModifications(links_);
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std::map<int, int> depthGraph = rtabmap::graph::generateDepthGraph(links, ui_->spinBox_optimizationsFrom->value(), 0);
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rtabmap::graph::optimizeTOROGraph(
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depthGraph,
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graph::Optimizer * optimizer = 0;
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if(ui_->comboBox_graphOptimizer->currentIndex() == graph::Optimizer::kTypeG2O)
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{
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optimizer = new graph::G2OOptimizer(ui_->spinBox_iterations->value(), ui_->checkBox_2dslam->isChecked(), ui_->checkBox_ignoreCovariance->isChecked());
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}
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else
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{
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optimizer = new graph::TOROOptimizer(ui_->spinBox_iterations->value(), ui_->checkBox_2dslam->isChecked(), ui_->checkBox_ignoreCovariance->isChecked());
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}
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int fromId = ui_->spinBox_optimizationsFrom->value();
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std::map<int, rtabmap::Transform> posesOut;
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std::multimap<int, rtabmap::Link> linksOut;
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optimizer->getConnectedGraph(
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fromId,
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poses_,
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links, finalPoses,
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ui_->spinBox_iterations->value(),
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ui_->checkBox_initGuess->isChecked(),
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ui_->checkBox_ignoreCovariance->isChecked(),
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&graphes_);
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links,
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posesOut,
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linksOut);
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QTime time;
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time.start();
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finalPoses = optimizer->optimize(fromId, posesOut, linksOut, &graphes_);
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ui_->label_timeOptimization->setNum(double(time.elapsed())/1000.0);
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graphes_.push_back(finalPoses);
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delete optimizer;
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}
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if(graphes_.size())
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{
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@@ -2238,8 +2307,8 @@ void DatabaseViewer::updateGraphView()
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void DatabaseViewer::updateGrid()
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{
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if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth) ||
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(sender() == ui_->spinBox_projDecimation && ui_->checkBox_gridFromProjection->isChecked()) ||
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(sender() == ui_->doubleSpinBox_projMaxDepth && ui_->checkBox_gridFromProjection->isChecked()))
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(sender() == ui_->spinBox_projDecimation && ui_->groupBox_gridFromProjection->isChecked()) ||
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(sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()))
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{
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localMaps_.clear();
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updateGraphView();
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@@ -2535,11 +2604,12 @@ void DatabaseViewer::refineConstraintVisually(int from, int to, bool updateGraph
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std::string rejectedMsg;
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double variance = -1.0;
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int inliers = -1;
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if(ui_->checkBox_visual_recomputeFeatures->isChecked())
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if(ui_->groupBox_visual_recomputeFeatures->isChecked())
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{
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// create a fake memory to regenerate features
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ParametersMap parameters;
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parameters.insert(ParametersPair(Parameters::kSURFHessianThreshold(), uNumber2Str(ui_->doubleSpinBox_visual_hessian->value())));
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parameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(ui_->comboBox_featureType->currentIndex())));
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parameters.insert(ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(ui_->comboBox_nnType->currentIndex())));
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parameters.insert(ParametersPair(Parameters::kLccBowInlierDistance(), uNumber2Str(ui_->doubleSpinBox_visual_maxCorrespDistance->value())));
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parameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
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parameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(ui_->doubleSpinBox_visual_nndr->value())));
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@@ -2645,11 +2715,12 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
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std::string rejectedMsg;
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double variance = -1.0;
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int inliers = -1;
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if(ui_->checkBox_visual_recomputeFeatures->isChecked())
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if(ui_->groupBox_visual_recomputeFeatures->isChecked())
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{
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// create a fake memory to regenerate features
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ParametersMap parameters;
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parameters.insert(ParametersPair(Parameters::kSURFHessianThreshold(), uNumber2Str(ui_->doubleSpinBox_visual_hessian->value())));
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parameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(ui_->comboBox_featureType->currentIndex())));
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parameters.insert(ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(ui_->comboBox_nnType->currentIndex())));
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parameters.insert(ParametersPair(Parameters::kLccBowInlierDistance(), uNumber2Str(ui_->doubleSpinBox_visual_maxCorrespDistance->value())));
|
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parameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(ui_->doubleSpinBox_visual_maxDepth->value())));
|
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parameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(ui_->doubleSpinBox_visual_nndr->value())));
|
||||
|
||||
Reference in New Issue
Block a user