2011-06-05 14:45:39 +00:00
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>preferencesDialog</class>
<widget class="QDialog" name="preferencesDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
2016-01-19 17:43:33 -05:00
<width>984</width>
2016-06-02 17:27:12 -04:00
<height>713</height>
2011-06-05 14:45:39 +00:00
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Preferences</string>
</property>
<property name="windowIcon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
</property>
2012-03-03 01:46:30 +00:00
<layout class="QVBoxLayout" name="verticalLayout_26">
2011-06-05 14:45:39 +00:00
<item>
2012-03-03 01:46:30 +00:00
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1">
2012-12-11 18:05:05 +00:00
<property name="spacing">
<number>0</number>
</property>
2011-06-05 14:45:39 +00:00
<item>
2012-03-03 01:46:30 +00:00
<layout class="QVBoxLayout" name="verticalLayout_18">
<item>
<widget class="QTreeView" name="treeView">
<property name="minimumSize">
<size>
2014-06-05 18:56:15 +00:00
<width>160</width>
2012-03-03 01:46:30 +00:00
<height>0</height>
</size>
</property>
<property name="editTriggers">
<set>QAbstractItemView::NoEditTriggers</set>
</property>
<attribute name="headerVisible">
<bool>false</bool>
</attribute>
</widget>
</item>
</layout>
2011-06-05 14:45:39 +00:00
</item>
<item>
2012-12-11 18:05:05 +00:00
<layout class="QVBoxLayout" name="verticalLayout_17">
2011-06-05 14:45:39 +00:00
<property name="spacing">
2012-03-03 01:46:30 +00:00
<number>0</number>
2011-06-05 14:45:39 +00:00
</property>
<item>
2012-12-11 18:05:05 +00:00
<widget class="QScrollArea" name="scrollArea">
<property name="widgetResizable">
<bool>true</bool>
2011-06-05 14:45:39 +00:00
</property>
2012-12-11 18:05:05 +00:00
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
2016-07-17 16:47:06 -04:00
<y>0</y>
2016-07-15 17:46:13 -04:00
<width>686</width>
<height>2023</height>
2012-12-11 18:05:05 +00:00
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
2016-07-15 17:46:13 -04:00
<property name="margin">
2012-12-11 18:05:05 +00:00
<number>0</number>
</property>
2011-06-05 14:45:39 +00:00
<item>
2012-12-11 18:05:05 +00:00
<layout class="QVBoxLayout" name="verticalLayout_24">
<property name="spacing">
<number>0</number>
2011-06-05 14:45:39 +00:00
</property>
2012-12-11 18:05:05 +00:00
<item>
<widget class="QStackedWidget" name="stackedWidget">
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
2016-07-17 19:58:32 -04:00
<number>0</number>
2012-12-11 18:05:05 +00:00
</property>
<widget class="QWidget" name="page_22">
2015-12-11 17:44:15 -05:00
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
2012-06-24 17:19:34 +00:00
<item>
2012-12-11 18:05:05 +00:00
<widget class="QGroupBox" name="groupBox_generalSettingsGui0">
<property name="title">
2015-12-11 17:44:15 -05:00
<string>General Settings (GUI)</string>
2012-06-24 17:19:34 +00:00
</property>
2013-12-11 00:12:44 +00:00
<layout class="QVBoxLayout" name="verticalLayout_28">
<item>
2015-01-07 17:30:20 -05:00
<layout class="QGridLayout" name="gridLayout_39" columnstretch="0,1">
2013-12-11 00:12:44 +00:00
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_imagesKept">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_59">
<property name="text">
<string>Insert new data received in the GUI cache. Used to show the loop closure image and the 3D Map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2016-06-12 17:53:35 -04:00
<item row="2" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QCheckBox" name="checkBox_beep">
<property name="text">
<string/>
</property>
</widget>
</item>
2016-06-12 17:53:35 -04:00
<item row="2" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_88">
<property name="text">
<string>Beep! on special events (finished processing the data set, an error has occured, ...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2016-07-17 19:58:32 -04:00
<item row="4" column="1">
2015-05-05 17:38:38 -04:00
<widget class="QLabel" name="label_102">
<property name="text">
<string>Notify when a new global path is received.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-05-05 17:38:38 -04:00
</widget>
</item>
2016-07-17 19:58:32 -04:00
<item row="4" column="0">
2015-05-05 17:38:38 -04:00
<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
2016-06-12 17:53:35 -04:00
<item row="1" column="1">
<widget class="QLabel" name="label_313">
<property name="text">
<string>Insert created clouds in the GUI cache to avoid regenerating clouds on export.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_cloudsKept">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
2016-07-17 19:58:32 -04:00
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_stamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_247">
<property name="text">
<string>Use time for figures' x-axis. Otherwise, sensor data IDs are used for camera/odometry info and for all mapping statistics, node IDs are used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2013-12-11 00:12:44 +00:00
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
2015-12-11 17:44:15 -05:00
<string>Loop Closure Detection View</string>
2013-12-11 00:12:44 +00:00
</property>
2015-01-07 17:30:20 -05:00
<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
2015-01-23 15:16:05 -05:00
<item row="1" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QCheckBox" name="checkBox_imageRejectedShown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
2015-01-23 15:16:05 -05:00
<item row="2" column="1">
2015-01-07 17:30:20 -05:00
<widget class="QLabel" name="label_105">
2013-12-11 00:12:44 +00:00
<property name="text">
2015-01-07 17:30:20 -05:00
<string>Show the image of the highest hypothesis.</string>
2013-12-11 00:12:44 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2015-01-23 15:16:05 -05:00
<item row="2" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QCheckBox" name="checkBox_imageHighestHypShown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2015-01-07 17:30:20 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_73">
2013-12-11 00:12:44 +00:00
<property name="text">
2015-01-07 17:30:20 -05:00
<string>Show image when an hypothesis is rejected.</string>
2013-12-11 00:12:44 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_70">
<property name="text">
2014-06-06 18:06:49 +00:00
<string>Vertical layout.</string>
2013-12-11 00:12:44 +00:00
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_verticalLayoutUsed">
<property name="text">
<string/>
</property>
<property name="checked">
2014-06-05 18:56:15 +00:00
<bool>true</bool>
2013-12-11 00:12:44 +00:00
</property>
</widget>
</item>
2015-01-23 15:16:05 -05:00
<item row="3" column="1">
2015-01-07 17:30:20 -05:00
<widget class="QLabel" name="label_222">
<property name="text">
<string>Show loop closure hypotheses on the graph view. Nodes are colorized from blue to red depending on the highest hypothesis (which is red). Posterior hypotheses should be published. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-01-07 17:30:20 -05:00
</widget>
</item>
2015-01-23 15:16:05 -05:00
<item row="3" column="0">
2015-01-07 17:30:20 -05:00
<widget class="QCheckBox" name="checkBox_posteriorGraphView">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
2013-12-11 00:12:44 +00:00
</layout>
</widget>
</item>
2014-06-06 18:06:49 +00:00
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
2015-12-11 17:44:15 -05:00
<string>3D Map View</string>
2014-06-06 18:06:49 +00:00
</property>
2015-01-07 17:30:20 -05:00
<layout class="QGridLayout" name="gridLayout_38" columnstretch="0,1">
2014-06-06 18:06:49 +00:00
<item row="0" column="1">
<widget class="QLabel" name="label_86">
<property name="text">
<string>Odometry warning theshold:
Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -> General -> Odom inliers.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-06-06 18:06:49 +00:00
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
2014-06-06 18:06:49 +00:00
</layout>
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
2015-12-11 17:44:15 -05:00
<string>Save/Load Settings</string>
2012-12-11 18:05:05 +00:00
</property>
2014-07-30 17:42:58 +00:00
<layout class="QHBoxLayout" name="horizontalLayout_9">
2013-12-11 00:12:44 +00:00
<item>
2014-07-30 17:42:58 +00:00
<widget class="QPushButton" name="pushButton_loadConfig">
2013-12-11 00:12:44 +00:00
<property name="text">
2014-07-30 17:42:58 +00:00
<string>Load settings (*.ini) ...</string>
2013-12-11 00:12:44 +00:00
</property>
</widget>
</item>
<item>
2014-07-30 17:42:58 +00:00
<widget class="QPushButton" name="pushButton_saveConfig">
2013-12-11 00:12:44 +00:00
<property name="text">
2014-07-30 17:42:58 +00:00
<string>Save settings (*.ini) ...</string>
2014-01-22 19:49:28 +00:00
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_resetConfig">
<property name="text">
<string>Reset all settings</string>
2013-12-11 00:12:44 +00:00
</property>
</widget>
</item>
2014-07-30 17:42:58 +00:00
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
2013-12-11 00:12:44 +00:00
</layout>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_24">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_2">
<layout class="QVBoxLayout" name="verticalLayout_42">
<item>
<widget class="QGroupBox" name="groupBox_cloudRendering1">
<property name="title">
<string>3D Rendering</string>
</property>
2016-02-15 19:35:24 -05:00
<layout class="QVBoxLayout" name="verticalLayout_98">
2014-06-23 20:43:08 +00:00
<item>
2016-07-17 16:47:06 -04:00
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_137">
<property name="text">
<string>Odometry</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_154">
<property name="text">
<string>Map</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxel">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_150">
<property name="text">
<string>3D cloud minimum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_171">
<property name="text">
<string>3D cloud voxel filtering size (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_168">
<property name="text">
<string>3D cloud noise filtering radius (0=disabled). Done after voxel filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_132">
<property name="text">
<string>3D cloud maximum depth (0 means no limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QCheckBox" name="checkBox_showOdomFeatures">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="16" column="2">
<widget class="QLabel" name="label_123">
<property name="text">
<string>Show 3D features.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="17" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_features">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_210">
<property name="text">
<string>3D cloud normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="checkBox_showScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QCheckBox" name="checkBox_showOdomScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="2">
<widget class="QLabel" name="label_110">
<property name="text">
<string>Show scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QSpinBox" name="spinBox_downsamplingScan">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="12" column="2">
<widget class="QLabel" name="label_273">
<property name="text">
<string>Scan downsampling step size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="13" column="2">
<widget class="QLabel" name="label_271">
<property name="text">
<string>Scan voxel size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="14" column="2">
<widget class="QLabel" name="label_156">
<property name="text">
<string>Scan opacity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_169">
<property name="text">
<string>3D cloud noise filtering min neighbors.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="17" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_features">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="17" column="2">
<widget class="QLabel" name="label_166">
<property name="text">
<string>Feature point size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_155">
<property name="text">
<string>3D cloud opacity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="10" column="2">
<widget class="QLabel" name="label_157">
<property name="text">
<string>3D cloud point size (1..64).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="15" column="2">
<widget class="QLabel" name="label_158">
<property name="text">
<string>Scan point size (1..64).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QCheckBox" name="checkBox_showFeatures">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="spinBox_decimation_odom">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_showClouds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_108">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>4</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="checkBox_showOdomClouds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth_odom">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_119">
<property name="text">
<string>Show 3D clouds.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="18" column="2">
<widget class="QLabel" name="label_213">
<property name="text">
<string>Show graphs.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="19" column="2">
<widget class="QLabel" name="label_243">
<property name="text">
<string>Show labels.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QCheckBox" name="checkBox_showGraphs">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QCheckBox" name="checkBox_showLabels">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_organized">
<property name="title">
<string>Organized Online Meshing</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_31">
<item>
<layout class="QGridLayout" name="gridLayout_64" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_85">
<property name="text">
<string>Angle tolerance</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_mesh_quad">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_quad">
<property name="text">
<string>Quad</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_mesh_triangleSize">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>2</number>
</property>
<property name="maximum">
<number>99</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_87">
<property name="text">
<string>Triangle size</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_mesh_angleTolerance">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="value">
<double>15.000000000000000</double>
</property>
</widget>
</item>
</layout>
2016-06-10 20:12:13 -04:00
</item>
2016-07-17 16:47:06 -04:00
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_61">
<layout class="QVBoxLayout" name="verticalLayout_104">
<item>
<widget class="QGroupBox" name="groupBox_filtering2">
<property name="title">
<string>Cloud Filtering</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_37">
<item>
<widget class="QLabel" name="label_160">
<property name="text">
<string>For visualization purpose, superposed clouds can be filtered by one of the approaches below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_65" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_71">
<property name="text">
<string>No filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QRadioButton" name="radioButton_noFiltering">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QRadioButton" name="radioButton_subtractFiltering">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<layout class="QGridLayout" name="gridLayout_17" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterAngle">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Angle.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_161">
<property name="text">
<string>Cloud subtraction filtering. When a new cloud is added to the map, its points are subtracted from the previous cloud.</string>
</property>
<property name="textFormat">
<enum>Qt::PlainText</enum>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_33">
<property name="text">
<string>Pose filtering. By comparing poses in the same area, only one cloud in a fixed radius and angle is shown.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QRadioButton" name="radioButton_nodeFiltering">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<layout class="QGridLayout" name="gridLayout_69" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_subtractFilteringRadius">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_192">
<property name="text">
<string>Point radius used to find close points between the current cloud and the previous one.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_subtractFilteringAngle">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_193">
<property name="text">
<string>Point angle used to keep only points with similar normal between the current cloud and the previous one.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_subtractFilteringMinPts">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_174">
<property name="text">
<string>Minimum points of the previous cloud in the fixed point radius in order to substract the point in the new cloud. Increasing this value reduces the black contours between clouds.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_55">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1625</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_62">
<layout class="QVBoxLayout" name="verticalLayout_105">
<item>
<widget class="QGroupBox" name="groupBox_gridMap2">
<property name="title">
<string>Occupancy Grid Map</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_45">
<item>
<widget class="QLabel" name="label_167">
<property name="text">
<string>When the Graph View is visible or if the "Show in 3D map view" below is checked, the grid map is generated using the laser scans or from 3D projection of the clouds (when activated below).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_20" columnstretch="0,1">
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.750000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.750000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_map_shown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_map_shown">
<property name="text">
<string>Show in 3D map view.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_resolution">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_159">
<property name="text">
<string>Resolution (cell size).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_170">
<property name="text">
<string>Opacity.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_224">
<property name="text">
<string>Erode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_map_erode">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_map_occupancyFrom3DCloud">
<property name="title">
<string>Occupancy from 3D cloud projection on the ground</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_102">
<item>
<widget class="QLabel" name="label_312">
2016-06-12 13:51:49 -04:00
<property name="text">
2016-07-17 16:47:06 -04:00
<string>Note that 3D cloud filtering stuff under Map columns in 3D Rendering panel are applied before the projection (except for floor and ceiling filterings).</string>
2016-06-12 13:51:49 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item>
2016-07-17 16:47:06 -04:00
<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,1">
<item row="2" column="1">
<widget class="QLabel" name="label_308">
2016-02-15 19:35:24 -05:00
<property name="text">
2016-07-17 16:47:06 -04:00
<string>Mininum cluster size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2016-02-15 19:35:24 -05:00
</property>
</widget>
</item>
2016-07-17 16:47:06 -04:00
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_projMinClusterSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_projMapFrame">
2016-02-15 19:35:24 -05:00
<property name="text">
<string/>
</property>
<property name="checked">
2016-07-17 16:47:06 -04:00
<bool>false</bool>
2016-02-15 19:35:24 -05:00
</property>
</widget>
</item>
2016-07-17 16:47:06 -04:00
<item row="0" column="1">
<widget class="QLabel" name="label_311">
2016-02-15 19:35:24 -05:00
<property name="text">
2016-07-17 16:47:06 -04:00
<string>Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2016-02-15 19:35:24 -05:00
</property>
</widget>
</item>
2016-07-17 16:47:06 -04:00
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxObstaclesHeight">
2016-02-15 19:35:24 -05:00
<property name="suffix">
2016-07-17 16:47:06 -04:00
<string> m</string>
2016-02-15 19:35:24 -05:00
</property>
2016-07-17 16:47:06 -04:00
<property name="decimals">
2016-02-15 19:35:24 -05:00
<number>2</number>
</property>
<property name="maximum">
2016-07-17 16:47:06 -04:00
<double>9999.000000000000000</double>
2016-02-15 19:35:24 -05:00
</property>
</widget>
</item>
2016-07-17 16:47:06 -04:00
<item row="5" column="1">
<widget class="QLabel" name="label_309">
2016-02-15 19:35:24 -05:00
<property name="text">
2016-07-17 16:47:06 -04:00
<string>Maximum obstacles height (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2016-02-15 19:35:24 -05:00
</property>
</widget>
</item>
2016-07-17 16:47:06 -04:00
<item row="1" column="1">
<widget class="QLabel" name="label_307">
<property name="text">
<string>Maximum ground normal angle</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxGroundAngle">
2016-02-15 19:35:24 -05:00
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
2016-07-17 16:47:06 -04:00
<double>0.000000000000000</double>
2016-02-15 19:35:24 -05:00
</property>
<property name="maximum">
2016-07-17 16:47:06 -04:00
<double>180.000000000000000</double>
2016-02-15 19:35:24 -05:00
</property>
<property name="value">
2016-07-17 16:47:06 -04:00
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_272">
<property name="text">
<string>Flat obstacles detected</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_projFlatObstaclesDetected">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_310">
<property name="text">
<string>Maximum ground height (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxGroundHeight">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>99999.000000000000000</double>
2016-02-15 19:35:24 -05:00
</property>
</widget>
</item>
</layout>
2015-11-22 18:08:32 -05:00
</item>
2016-07-17 16:47:06 -04:00
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_octomap">
<property name="title">
<string>OctoMap (3D occupancy grid map)</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_72" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_octomap_treeDepth">
<property name="minimum">
<number>1</number>
2016-01-08 19:15:49 -05:00
</property>
2016-07-17 16:47:06 -04:00
<property name="maximum">
<number>16</number>
2015-08-11 17:19:12 -04:00
</property>
2016-07-17 16:47:06 -04:00
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_octomap_treeDepth">
<property name="text">
<string>Octomap maximum tree depth (max 16). The highest depth means the smallest resolution of the map (cell size). At smallest resolution the octomap shows RGB colors. Other resolutions produce z-axis gradient colored octomap.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_octomap_groundObstacle">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_groundObstacle">
<property name="text">
<string>Octomap: ground is an obstacle. If not checked, parameters above from 3D cloud projection are used to segment the ground.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
2015-08-11 17:19:12 -04:00
</item>
2014-02-13 21:32:46 +00:00
</layout>
2013-12-11 00:12:44 +00:00
</widget>
</item>
</layout>
</widget>
</item>
<item>
2016-07-17 16:47:06 -04:00
<spacer name="verticalSpacer_56">
2013-12-11 00:12:44 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2016-07-17 16:47:06 -04:00
<height>1375</height>
2013-12-11 00:12:44 +00:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_8">
<layout class="QVBoxLayout" name="verticalLayout_43">
<item>
<widget class="QGroupBox" name="groupBox_logging1">
<property name="title">
<string>Logging</string>
</property>
2015-01-07 17:30:20 -05:00
<layout class="QGridLayout" name="gridLayout_40" columnstretch="0,1">
2013-12-11 00:12:44 +00:00
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_loggerLevel">
<property name="currentIndex">
<number>2</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>DEBUG</string>
</property>
</item>
<item>
<property name="text">
<string>INFO</string>
</property>
</item>
<item>
<property name="text">
<string>WARNING</string>
</property>
</item>
<item>
<property name="text">
<string>ERROR</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_60">
<property name="text">
<string>Logger level.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_loggerEventLevel">
<property name="currentIndex">
<number>3</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>DEBUG</string>
</property>
</item>
<item>
<property name="text">
<string>INFO</string>
</property>
</item>
<item>
<property name="text">
<string>WARNING</string>
</property>
</item>
<item>
<property name="text">
<string>ERROR</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_61">
<property name="text">
<string>Logger event sent level (fatal messages are always sent).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="comboBox_loggerPauseLevel">
<property name="currentIndex">
<number>3</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>DEBUG</string>
</property>
</item>
<item>
<property name="text">
<string>INFO</string>
</property>
</item>
<item>
<property name="text">
<string>WARNING</string>
</property>
</item>
<item>
<property name="text">
<string>ERROR</string>
</property>
</item>
<item>
<property name="text">
<string>FATAL</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_62">
<property name="text">
<string>Logger level on which the process will automatically pause, showing the log console. A level set under the logger event level will do nothing.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_logger_printTime">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_67">
<property name="text">
<string>Logger print time.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2016-01-05 13:55:21 -05:00
<item row="5" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QComboBox" name="comboBox_loggerType">
<property name="currentIndex">
<number>1</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>No log</string>
</property>
</item>
<item>
<property name="text">
<string>Console</string>
</property>
</item>
<item>
<property name="text">
<string>File</string>
</property>
</item>
</widget>
</item>
2016-01-05 13:55:21 -05:00
<item row="5" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_68">
<property name="text">
<string>Logger type:
when using the file type, logs are saved in LogRtabmap.txt (located in the working directory).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2016-01-05 13:55:21 -05:00
<item row="4" column="1">
<widget class="QLabel" name="label_118">
<property name="text">
<string>Logger print thread ID.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_logger_printThreadId">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2013-12-11 00:12:44 +00:00
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_4">
2016-01-06 17:26:55 -05:00
<layout class="QVBoxLayout" name="verticalLayout_27" stretch="0,1">
2013-12-11 00:12:44 +00:00
<item>
<widget class="QGroupBox" name="groupBox_source0">
<property name="title">
<string>Source</string>
</property>
2016-01-06 17:26:55 -05:00
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0,1">
2013-12-11 00:12:44 +00:00
<item>
2015-07-17 13:32:18 -04:00
<layout class="QGridLayout" name="gridLayout_28" columnstretch="0,1">
2015-11-22 18:08:32 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Input rate (0 means as fast as possible).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="3" column="1">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Local transform from /base_link to /camera_link. Mouse over the box to show formats.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Source type. Select specific driver below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_39">
<property name="text">
<string>ID of the device, which might be a serial number, bus@address or the index of the device. If empty, the first device found is taken.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_244">
<property name="text">
2016-01-19 17:43:33 -05:00
<string>Create a calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of the source of images.</string>
2016-01-08 19:15:49 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_5" stretch="0,1">
<item>
<widget class="QToolButton" name="toolButton_source_path_calibration">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_calibrationFile">
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
2015-06-26 18:21:32 -04:00
<item row="1" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_imgRate">
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
2015-06-26 18:21:32 -04:00
<double>0.000000000000000</double>
2013-12-11 00:12:44 +00:00
</property>
</widget>
</item>
2015-06-26 18:21:32 -04:00
<item row="4" column="1">
2015-02-28 18:09:22 -05:00
<widget class="QLabel" name="label_17">
<property name="text">
<string>Mirroring mode (flip image horizontally). It has no effect on database source.</string>
</property>
2015-06-26 18:21:32 -04:00
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-02-28 18:09:22 -05:00
</widget>
</item>
2015-06-26 18:21:32 -04:00
<item row="4" column="0">
2015-02-28 18:09:22 -05:00
<widget class="QCheckBox" name="source_mirroring">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-06-26 18:21:32 -04:00
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_sourceLocalTransform">
2015-12-17 14:13:19 -05:00
<property name="toolTip">
2016-01-08 19:15:49 -05:00
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0</p></body></html></string>
2015-12-17 14:13:19 -05:00
</property>
2015-06-26 18:21:32 -04:00
<property name="text">
<string>0 0 1 -1 0 0 0 -1 0</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_sourceType">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>RGB-D</string>
</property>
</item>
<item>
<property name="text">
<string>Stereo</string>
</property>
</item>
<item>
<property name="text">
<string>RGB</string>
</property>
</item>
<item>
<property name="text">
<string>Database</string>
</property>
</item>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="10" column="0">
2015-06-26 18:21:32 -04:00
<widget class="QPushButton" name="pushButton_test_camera">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Test</string>
</property>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="8" column="0">
2015-06-26 18:21:32 -04:00
<widget class="QPushButton" name="pushButton_calibrate">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Calibrate</string>
</property>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="8" column="1">
2015-06-26 18:21:32 -04:00
<widget class="QLabel" name="label_24">
<property name="text">
<string>Calibration files are saved in "camera_info" folder of the working directory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
<item row="2" column="0">
<widget class="QLineEdit" name="lineEdit_sourceDevice">
<property name="text">
<string/>
</property>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="9" column="0">
2015-07-30 14:17:29 -04:00
<widget class="QPushButton" name="pushButton_calibrate_simple">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
2016-01-19 21:53:45 -05:00
<string>Create Calibration</string>
2015-07-30 14:17:29 -04:00
</property>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="6" column="1">
<widget class="QLabel" name="label_18">
2015-07-30 14:17:29 -04:00
<property name="text">
2016-01-08 19:15:49 -05:00
<string>Calibration file path (*.yaml). If empty, the GUID of the camera is used (for those having one). OpenNI and Freenect drivers use factory calibration by default (so they ignore this parameter). A calibrated camera is required for RGB-D SLAM mode.</string>
2015-07-30 14:17:29 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item row="5" column="1">
2016-01-08 19:15:49 -05:00
<widget class="QLabel" name="label_36">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-08 19:15:49 -05:00
<string>Image decimation. RGB/Mono and depth images will be resized according to this value (size*1/decimation). Note that if depth images are captured, decimation should be a multiple of the depth image size.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_source_imageDecimation">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</item>
<item>
2015-06-26 18:21:32 -04:00
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
2016-06-24 18:49:34 -04:00
<number>1</number>
2013-12-11 00:12:44 +00:00
</property>
2015-06-26 18:21:32 -04:00
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
<item>
<widget class="QGroupBox" name="groupBox_sourceRGBD">
<property name="title">
<string>RGB-D</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_11">
2012-12-11 18:05:05 +00:00
<item>
2015-06-26 18:21:32 -04:00
<widget class="QLabel" name="label_40">
<property name="text">
<string>Grabber for RGB-D devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
2012-12-11 18:05:05 +00:00
</item>
<item>
2015-06-26 18:21:32 -04:00
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,1">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraRGBD">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
2013-12-11 00:12:44 +00:00
<property name="text">
2015-06-26 18:21:32 -04:00
<string>OpenNI-PCL</string>
2013-12-11 00:12:44 +00:00
</property>
2015-06-26 18:21:32 -04:00
</item>
<item>
<property name="text">
<string>Freenect</string>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
</item>
<item>
<property name="text">
<string>OpenNI-CV</string>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
</item>
<item>
<property name="text">
<string>OpenNI-CV-ASUS</string>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
</item>
<item>
<property name="text">
<string>OpenNI2</string>
</property>
</item>
<item>
<property name="text">
<string>Freenect2</string>
</property>
</item>
2015-07-30 14:17:29 -04:00
<item>
<property name="text">
<string>Images</string>
</property>
</item>
2015-06-26 18:21:32 -04:00
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_228">
<property name="text">
<string>Driver</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_229">
<property name="text">
<string>Only RGB images are published.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QCheckBox" name="checkbox_rgbd_colorOnly">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
2012-12-11 18:05:05 +00:00
</item>
<item>
2015-06-26 18:21:32 -04:00
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
2016-06-02 17:27:12 -04:00
<number>0</number>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
<item>
<widget class="QGroupBox" name="groupBox_openni">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>OpenNI</string>
</property>
<layout class="QGridLayout" name="gridLayout_57" columnstretch="0,0,0">
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_openniOniPath">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_245">
<property name="text">
<string>Path to a *.ONI file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_34">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_openniOniPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
2016-01-06 17:26:55 -05:00
<widget class="QWidget" name="page_33">
<layout class="QVBoxLayout" name="verticalLayout_80">
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2016-05-31 19:09:49 -04:00
<height>0</height>
2016-01-06 17:26:55 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_34">
<layout class="QVBoxLayout" name="verticalLayout_89">
<item>
<spacer name="verticalSpacer_27">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2016-05-31 19:09:49 -04:00
<height>0</height>
2016-01-06 17:26:55 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_35">
<layout class="QVBoxLayout" name="verticalLayout_90">
<item>
<spacer name="verticalSpacer_28">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2016-05-31 19:09:49 -04:00
<height>0</height>
2016-01-06 17:26:55 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-06-26 18:21:32 -04:00
<widget class="QWidget" name="page_36">
<layout class="QVBoxLayout" name="verticalLayout_51">
<item>
<widget class="QGroupBox" name="groupBox_openni2">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>OpenNI 2</string>
</property>
<layout class="QGridLayout" name="gridLayout_54" columnstretch="0,1,0">
<item row="1" column="0">
<widget class="QCheckBox" name="openni2_autoWhiteBalance">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_217">
<property name="text">
<string>Auto white balance.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="openni2_autoExposure">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_218">
<property name="text">
<string>Auto exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="openni2_exposure">
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_219">
<property name="text">
<string>Exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
2015-10-15 16:40:49 -04:00
<item row="7" column="0">
2015-06-26 18:21:32 -04:00
<spacer name="verticalSpacer_33">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="openni2_gain">
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_220">
<property name="text">
<string>Gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
2015-10-15 16:40:49 -04:00
<item row="6" column="0">
2015-06-26 18:21:32 -04:00
<widget class="QCheckBox" name="openni2_mirroring">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2015-10-15 16:40:49 -04:00
<item row="6" column="1">
2015-06-26 18:21:32 -04:00
<widget class="QLabel" name="label_223">
<property name="text">
<string>Mirroring.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_openni2OniPath">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_231">
<property name="text">
<string>Path to a *.ONI file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_openni2OniPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
2015-10-15 16:40:49 -04:00
<item row="5" column="1">
<widget class="QLabel" name="label_264">
<property name="text">
<string>Use timestamps and frame IDs from OpenNI2.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="openni2_stampsIdsUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2015-06-26 18:21:32 -04:00
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_37">
<layout class="QVBoxLayout" name="verticalLayout_62">
<item>
<widget class="QGroupBox" name="groupBox_freenect2">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Freenect2</string>
</property>
<layout class="QGridLayout" name="gridLayout_56" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_230">
<property name="text">
<string>Format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
2015-11-04 18:31:52 -05:00
<item row="6" column="0">
<spacer name="verticalSpacer_32">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
2015-06-26 18:21:32 -04:00
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_freenect2Format">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
2015-11-03 17:31:07 -05:00
<string>Registered Color to Depth SD</string>
2015-06-26 18:21:32 -04:00
</property>
</item>
2015-11-04 18:31:52 -05:00
<item>
<property name="text">
<string>Registered Depth to Color SD (old way)</string>
</property>
</item>
2015-06-26 18:21:32 -04:00
<item>
<property name="text">
2015-11-03 17:31:07 -05:00
<string>Registered Depth to Color HD</string>
2015-06-26 18:21:32 -04:00
</property>
</item>
<item>
<property name="text">
2015-11-04 18:31:52 -05:00
<string>Registered Depth to Color HD (old way)</string>
2015-11-03 17:31:07 -05:00
</property>
</item>
<item>
<property name="text">
<string>IR + Depth</string>
2015-06-26 18:21:32 -04:00
</property>
</item>
</widget>
</item>
2015-11-04 18:31:52 -05:00
<item row="3" column="1">
<widget class="QLabel" name="label_268">
<property name="text">
<string>Depth bilateral filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_266">
<property name="text">
<string>Min depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_269">
<property name="text">
<string>Depth edge aware filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MaxDepth">
<property name="maximum">
<double>65.000000000000000</double>
</property>
<property name="value">
<double>12.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_freenect2BilateralFiltering">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_freenect2EdgeAwareFiltering">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_267">
<property name="text">
<string>Max depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-06-26 18:21:32 -04:00
<item row="1" column="0">
2015-11-04 18:31:52 -05:00
<widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MinDepth">
<property name="maximum">
<double>64.000000000000000</double>
2015-06-26 18:21:32 -04:00
</property>
2015-11-04 18:31:52 -05:00
<property name="singleStep">
<double>0.100000000000000</double>
2015-06-26 18:21:32 -04:00
</property>
2015-11-04 18:31:52 -05:00
<property name="value">
<double>0.300000000000000</double>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_freenect2NoiseFiltering">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_270">
<property name="text">
<string>Depth noise filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
2015-06-26 18:21:32 -04:00
</item>
</layout>
</widget>
</item>
</layout>
</widget>
2015-07-30 14:17:29 -04:00
<widget class="QWidget" name="page_47">
<layout class="QVBoxLayout" name="verticalLayout_79">
<item>
2016-01-07 14:47:32 -05:00
<widget class="QGroupBox" name="groupBox_cameraRGBDImages">
2015-07-30 14:17:29 -04:00
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>RGB-D Images</string>
</property>
2015-12-17 14:13:19 -05:00
<layout class="QGridLayout" name="gridLayout_35" columnstretch="0,0,1">
2015-07-30 14:17:29 -04:00
<item row="0" column="2">
<widget class="QLabel" name="label_252">
<property name="text">
<string>Path to directory containing RGB images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-17 14:13:19 -05:00
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_cameraRGBDImages_path_rgb">
2015-07-30 14:17:29 -04:00
<property name="text">
2015-12-17 14:13:19 -05:00
<string>...</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_257">
<property name="text">
<string>Depth scale factor (depth = pixel value / factor).</string>
2015-07-30 14:17:29 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QToolButton" name="toolButton_cameraRGBDImages_path_depth">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
2015-12-17 14:13:19 -05:00
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_rgb">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-07-30 14:17:29 -04:00
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_depth">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-12-17 14:13:19 -05:00
<item row="1" column="2">
<widget class="QLabel" name="label_254">
<property name="text">
<string>Path to directory containing depth images. The directory should have the same size has the RGB directory. The depth images should be already registered to RGB images. Assume that UINT16 images are in mm and FLOAT32 images are in m.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraRGBDImages_scale">
2016-01-07 14:47:32 -05:00
<property name="toolTip">
<string>For RGBD-SLAM datasets, it is 5.</string>
</property>
2015-12-17 14:13:19 -05:00
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>999999.000000000000000</double>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="3" column="1">
2015-12-17 14:13:19 -05:00
<spacer name="verticalSpacer_40">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
2015-07-30 14:17:29 -04:00
</layout>
</widget>
</item>
</layout>
</widget>
2015-06-26 18:21:32 -04:00
</widget>
2012-12-11 18:05:05 +00:00
</item>
</layout>
2012-06-24 17:19:34 +00:00
</widget>
2015-06-26 18:21:32 -04:00
</item>
</layout>
</widget>
<widget class="QWidget" name="page_44">
<layout class="QVBoxLayout" name="verticalLayout_71">
<item>
<widget class="QGroupBox" name="groupBox_sourceStereo">
<property name="title">
<string>Stereo</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_67">
2012-12-11 18:05:05 +00:00
<item>
2015-06-26 18:21:32 -04:00
<widget class="QLabel" name="label_46">
<property name="text">
2016-05-31 19:09:49 -04:00
<string>Grabber for stereo devices (i.e., Bumblebee2, Zed camera).</string>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
2015-07-16 14:44:25 -04:00
<layout class="QGridLayout" name="gridLayout_58" columnstretch="0,0,1">
2015-06-26 18:21:32 -04:00
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraStereo">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
2012-12-11 18:05:05 +00:00
<property name="text">
2015-06-26 18:21:32 -04:00
<string>DC1394</string>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
</item>
<item>
2012-12-11 18:05:05 +00:00
<property name="text">
2015-06-26 18:21:32 -04:00
<string>FlyCapture2</string>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
</item>
<item>
2015-06-11 16:57:16 -04:00
<property name="text">
2015-06-26 18:21:32 -04:00
<string>Images</string>
2015-06-11 16:57:16 -04:00
</property>
2015-06-26 18:21:32 -04:00
</item>
2015-07-16 14:44:25 -04:00
<item>
<property name="text">
<string>Video (Side-by-Side)</string>
</property>
</item>
2016-05-31 19:09:49 -04:00
<item>
<property name="text">
<string>ZED sdk</string>
</property>
</item>
<item>
<property name="text">
<string>Usb camera (Side-by-Side)</string>
</property>
</item>
2015-06-26 18:21:32 -04:00
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_240">
<property name="text">
2016-06-02 17:27:12 -04:00
<string>Driver.</string>
2015-06-26 18:21:32 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
2015-08-27 17:16:12 -04:00
<item row="1" column="1">
<widget class="QCheckBox" name="checkbox_stereo_depthGenerated">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="2">
2016-06-24 18:49:34 -04:00
<widget class="QLabel" name="label_stereo_depthGenerated">
2015-08-27 17:16:12 -04:00
<property name="text">
2016-06-02 17:27:12 -04:00
<string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can found under StereoBM tab.</string>
2015-08-27 17:16:12 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
2015-06-26 18:21:32 -04:00
</layout>
2012-12-11 18:05:05 +00:00
</item>
<item>
2015-06-26 18:21:32 -04:00
<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
2016-06-02 17:27:12 -04:00
<number>4</number>
2012-12-11 18:05:05 +00:00
</property>
2016-01-06 17:26:55 -05:00
<widget class="QWidget" name="page_49">
<layout class="QVBoxLayout" name="verticalLayout_91">
<item>
<spacer name="verticalSpacer_30">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2016-05-31 19:09:49 -04:00
<height>0</height>
2016-01-06 17:26:55 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_48">
<layout class="QVBoxLayout" name="verticalLayout_92">
<item>
<spacer name="verticalSpacer_47">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2016-05-31 19:09:49 -04:00
<height>0</height>
2016-01-06 17:26:55 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-06-26 18:21:32 -04:00
<widget class="QWidget" name="page_53">
<layout class="QVBoxLayout" name="verticalLayout_70">
<item>
<widget class="QGroupBox" name="groupBox_cameraStereoImages">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
2015-07-16 14:44:25 -04:00
<string>Stereo Images</string>
2015-06-26 18:21:32 -04:00
</property>
<layout class="QGridLayout" name="gridLayout_61" columnstretch="0,0,1">
2016-01-06 17:26:55 -05:00
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_stereoImages_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-07-16 14:44:25 -04:00
<item row="0" column="0">
2015-07-30 14:17:29 -04:00
<widget class="QToolButton" name="toolButton_cameraStereoImages_path_left">
2015-07-16 14:44:25 -04:00
<property name="text">
<string>...</string>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="3" column="0">
2015-07-16 14:44:25 -04:00
<spacer name="verticalSpacer_38">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
2015-12-17 14:13:19 -05:00
<item row="2" column="2">
<widget class="QLabel" name="label_250">
<property name="text">
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-07-16 14:44:25 -04:00
<item row="0" column="2">
<widget class="QLabel" name="label_249">
2015-06-26 18:21:32 -04:00
<property name="text">
2015-07-30 14:17:29 -04:00
<string>Path to directory containing left images.</string>
2015-07-16 14:44:25 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
2015-06-26 18:21:32 -04:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_path_left">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-07-30 14:17:29 -04:00
<item row="1" column="2">
<widget class="QLabel" name="label_253">
<property name="text">
<string>Path to directory containing right images. The directory should have the same size has the left images directory. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_path_right">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QToolButton" name="toolButton_cameraStereoImages_path_right">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
2015-07-16 14:44:25 -04:00
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_50">
<layout class="QVBoxLayout" name="verticalLayout_78">
<item>
2016-05-31 19:09:49 -04:00
<widget class="QGroupBox" name="groupBox_cameraStereoVideo">
2015-07-16 14:44:25 -04:00
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
2015-12-11 17:44:15 -05:00
<string>Stereo Side-By-Side Video (*.avi)</string>
2015-07-16 14:44:25 -04:00
</property>
<layout class="QGridLayout" name="gridLayout_66" columnstretch="0,0">
2015-06-26 18:21:32 -04:00
<item row="2" column="0">
2015-07-16 14:44:25 -04:00
<spacer name="verticalSpacer_39">
2015-06-26 18:21:32 -04:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
2015-07-16 14:44:25 -04:00
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_cameraStereoVideo_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoVideo_path">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_stereoVideo_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_234">
<property name="text">
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-07-16 14:44:25 -04:00
</widget>
</item>
2015-06-26 18:21:32 -04:00
</layout>
</widget>
</item>
</layout>
</widget>
2016-05-31 19:09:49 -04:00
<widget class="QWidget" name="page_59">
<layout class="QVBoxLayout" name="verticalLayout_101">
<item>
<widget class="QGroupBox" name="groupBox_cameraStereoZed">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Zed sdk</string>
</property>
2016-06-02 17:27:12 -04:00
<layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
2016-06-24 18:49:34 -04:00
<item row="6" column="0">
<spacer name="verticalSpacer_54">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>13</height>
</size>
</property>
</spacer>
2016-06-02 17:27:12 -04:00
</item>
2016-06-24 18:49:34 -04:00
<item row="5" column="1">
<widget class="QLabel" name="label_305">
<property name="text">
<string>Path to a *.SVO file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
2016-05-31 19:09:49 -04:00
</item>
2016-06-02 17:27:12 -04:00
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_stereoZed_resolution">
<item>
<property name="text">
<string>HD2K</string>
</property>
</item>
<item>
<property name="text">
<string>HD1080</string>
</property>
</item>
<item>
<property name="text">
<string>HD720</string>
</property>
</item>
<item>
<property name="text">
<string>VGA</string>
</property>
</item>
</widget>
</item>
2016-06-24 18:49:34 -04:00
<item row="2" column="1">
<widget class="QLabel" name="label_291">
2016-06-02 17:27:12 -04:00
<property name="text">
2016-06-24 18:49:34 -04:00
<string>Sensing mode.</string>
2016-06-02 17:27:12 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-06-24 18:49:34 -04:00
<item row="2" column="0">
<widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
<item>
<property name="text">
<string>FILL</string>
</property>
</item>
<item>
<property name="text">
<string>STANDARD</string>
</property>
</item>
</widget>
</item>
2016-06-02 17:27:12 -04:00
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_stereoZed_quality">
<item>
<property name="text">
<string>NONE</string>
</property>
</item>
<item>
<property name="text">
<string>PERFORMANCE</string>
</property>
</item>
2016-06-23 15:40:11 -04:00
<item>
<property name="text">
<string>MEDIUM</string>
</property>
</item>
2016-06-02 17:27:12 -04:00
<item>
<property name="text">
<string>QUALITY</string>
</property>
</item>
</widget>
</item>
2016-06-24 18:49:34 -04:00
<item row="3" column="1">
<widget class="QLabel" name="label_306">
2016-06-02 17:27:12 -04:00
<property name="text">
2016-06-24 18:49:34 -04:00
<string>Filtering value for the disparity map (and by extension the depth map). A lower value means more confidence and precision (but less density), an upper value reduces the filtering (more density, less certainty).</string>
2016-06-02 17:27:12 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-06-24 18:49:34 -04:00
<item row="0" column="1">
<widget class="QLabel" name="label_274">
2016-06-02 17:27:12 -04:00
<property name="text">
2016-06-24 18:49:34 -04:00
<string>Resolution. Not used when a SVO file is used.</string>
2016-06-02 17:27:12 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-06-24 18:49:34 -04:00
<item row="5" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QToolButton" name="toolButton_zedSvoPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_zedSvoPath">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_290">
2016-06-02 17:27:12 -04:00
<property name="text">
2016-06-24 18:49:34 -04:00
<string>Quality. If NONE, the disparity is not computed on the GPU.</string>
2016-06-02 17:27:12 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-06-24 18:49:34 -04:00
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_stereoZed_confidenceThr">
<property name="maximum">
<number>100</number>
2016-05-31 19:09:49 -04:00
</property>
2016-06-24 18:49:34 -04:00
</widget>
2016-05-31 19:09:49 -04:00
</item>
2016-06-24 18:49:34 -04:00
<item row="4" column="1">
<widget class="QLabel" name="label_316">
2016-06-02 17:27:12 -04:00
<property name="text">
2016-06-24 18:49:34 -04:00
<string>Use ZED visual odometry.</string>
2016-06-02 17:27:12 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-06-24 18:49:34 -04:00
<item row="4" column="0">
<widget class="QCheckBox" name="checkbox_stereoZed_odom">
<property name="text">
<string/>
2016-06-02 17:27:12 -04:00
</property>
</widget>
</item>
2016-05-31 19:09:49 -04:00
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_60">
<layout class="QVBoxLayout" name="verticalLayout_103">
<item>
<spacer name="verticalSpacer_53">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>217</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-06-26 18:21:32 -04:00
</widget>
2012-12-11 18:05:05 +00:00
</item>
</layout>
2012-06-24 17:19:34 +00:00
</widget>
2015-06-26 18:21:32 -04:00
</item>
</layout>
</widget>
<widget class="QWidget" name="page_42">
<layout class="QVBoxLayout" name="verticalLayout_65">
<item>
<widget class="QGroupBox" name="groupBox_sourceRGB">
<property name="title">
<string>RGB</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
2012-12-11 18:05:05 +00:00
<item>
2015-06-26 18:21:32 -04:00
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="source_comboBox_image_type">
<property name="currentIndex">
<number>0</number>
</property>
<item>
2012-12-11 18:05:05 +00:00
<property name="text">
2015-06-26 18:21:32 -04:00
<string>Usb camera</string>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
</item>
<item>
<property name="text">
<string>Images</string>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
</item>
<item>
<property name="text">
<string>Video file</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Source type.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
</layout>
2012-12-11 18:05:05 +00:00
</item>
<item>
2015-06-26 18:21:32 -04:00
<widget class="QStackedWidget" name="stackedWidget_image">
<property name="currentIndex">
2016-05-31 19:09:49 -04:00
<number>0</number>
2012-12-11 18:05:05 +00:00
</property>
2015-06-26 18:21:32 -04:00
<widget class="QWidget" name="page_7">
<layout class="QVBoxLayout" name="verticalLayout_30">
<item>
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_5">
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGroupBox" name="source_groupBox_images">
<property name="title">
2015-12-11 17:44:15 -05:00
<string>Images Dataset</string>
2015-06-26 18:21:32 -04:00
</property>
2016-01-11 17:21:06 -05:00
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0">
2015-07-16 14:44:25 -04:00
<item row="0" column="1">
<widget class="QLineEdit" name="source_images_lineEdit_path">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Refresh the directory files list after each image loaded.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-07-16 14:44:25 -04:00
</widget>
</item>
2016-01-11 17:21:06 -05:00
<item row="2" column="0">
<widget class="QCheckBox" name="source_images_refreshDir">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-07-16 14:44:25 -04:00
<item row="1" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Start position (default 1, 0=start from the last).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-07-16 14:44:25 -04:00
</widget>
</item>
2015-06-26 18:21:32 -04:00
<item row="1" column="0">
<widget class="QSpinBox" name="source_images_spinBox_startPos">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="source_images_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
2015-07-16 14:44:25 -04:00
<item row="3" column="1">
<widget class="QLabel" name="label_242">
2015-06-26 18:21:32 -04:00
<property name="text">
2015-07-16 14:44:25 -04:00
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
2015-06-26 18:21:32 -04:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
2015-07-16 14:44:25 -04:00
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_rgbImages_rectify">
2015-06-26 18:21:32 -04:00
<property name="text">
2015-07-16 14:44:25 -04:00
<string/>
2015-06-26 18:21:32 -04:00
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_6">
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<widget class="QGroupBox" name="source_groupBox_video">
<property name="title">
<string>Video (AVI)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,10">
<item row="0" column="0">
<widget class="QToolButton" name="source_video_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_video_lineEdit_path">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
2015-07-16 14:44:25 -04:00
<item row="1" column="1">
<widget class="QLabel" name="label_241">
<property name="text">
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-07-16 14:44:25 -04:00
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_rgbVideo_rectify">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-06-26 18:21:32 -04:00
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_10">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
2012-12-11 18:05:05 +00:00
</item>
</layout>
2012-06-24 17:19:34 +00:00
</widget>
2015-06-26 18:21:32 -04:00
</item>
</layout>
</widget>
<widget class="QWidget" name="page_43">
<layout class="QVBoxLayout" name="verticalLayout_66">
<item>
<widget class="QGroupBox" name="groupBox_sourceDatabase">
<property name="title">
<string>Database</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
2016-02-15 19:35:24 -05:00
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,0,0">
<item row="3" column="1">
<widget class="QLabel" name="label_263">
<property name="text">
<string>Ignore goals saved in the database.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-06-26 18:21:32 -04:00
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<property name="toolTip">
<string>Open database viewer</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</property>
</widget>
2015-04-06 00:28:04 -04:00
</item>
2016-06-20 10:50:01 -04:00
<item row="7" column="1">
2016-02-15 19:35:24 -05:00
<spacer name="verticalSpacer_35">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
2015-06-26 18:21:32 -04:00
<item row="1" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
<property name="text">
<string/>
</property>
</widget>
2015-04-06 00:28:04 -04:00
</item>
2015-06-26 18:21:32 -04:00
<item row="0" column="0">
<widget class="QToolButton" name="source_database_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
2015-04-06 00:28:04 -04:00
</item>
2015-06-26 18:21:32 -04:00
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
2015-04-06 00:28:04 -04:00
</item>
2015-10-13 12:50:25 -04:00
<item row="5" column="1">
2015-06-26 18:21:32 -04:00
<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (index)</string>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
2015-04-06 00:28:04 -04:00
</item>
2015-10-13 12:50:25 -04:00
<item row="5" column="0">
2015-06-26 18:21:32 -04:00
<widget class="QSpinBox" name="source_spinBox_databaseStartPos">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
2016-06-20 10:50:01 -04:00
<number>99999</number>
2015-06-26 18:21:32 -04:00
</property>
</widget>
2015-04-06 00:28:04 -04:00
</item>
2015-06-26 18:21:32 -04:00
<item row="1" column="1">
<widget class="QLabel" name="label_72">
<property name="text">
<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
2015-04-07 12:00:10 -04:00
</item>
2015-10-13 12:50:25 -04:00
<item row="4" column="1">
2015-06-26 18:21:32 -04:00
<widget class="QLabel" name="label_80">
<property name="text">
<string>Ignore goal delay.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
2015-06-11 16:57:16 -04:00
</item>
2015-10-13 12:50:25 -04:00
<item row="4" column="0">
2015-06-26 18:21:32 -04:00
<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
2015-05-05 18:21:43 -04:00
<property name="text">
2015-06-26 18:21:32 -04:00
<string/>
2015-05-05 18:21:43 -04:00
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_90">
2015-05-05 18:21:43 -04:00
<property name="text">
2015-06-26 18:21:32 -04:00
<string>Use database stamps as input rate.</string>
2015-05-05 18:21:43 -04:00
</property>
2015-06-26 18:21:32 -04:00
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
2015-05-05 19:32:09 -04:00
<property name="text">
2015-06-26 18:21:32 -04:00
<string/>
2015-05-05 19:32:09 -04:00
</property>
2015-06-26 18:21:32 -04:00
</widget>
</item>
2016-06-20 10:50:01 -04:00
<item row="6" column="0">
<widget class="QSpinBox" name="source_spinBox_database_cameraIndex">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_315">
<property name="text">
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. -1 means that all cameras are streamed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-06-26 18:21:32 -04:00
</layout>
</widget>
</item>
</layout>
</widget>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item>
<widget class="QGroupBox" name="groupBox_sourceImages_optional">
<property name="title">
<string>Directory of images (optional settings)</string>
</property>
2016-01-11 17:21:06 -05:00
<layout class="QVBoxLayout" name="verticalLayout_93">
2016-07-15 17:46:13 -04:00
<property name="margin">
2016-01-11 17:21:06 -05:00
<number>0</number>
</property>
<item>
<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
2016-01-19 17:43:33 -05:00
<item row="1" column="2">
<widget class="QLabel" name="label_255">
<property name="text">
2016-06-02 17:27:12 -04:00
<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png".</string>
2016-01-19 17:43:33 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QToolButton" name="toolButton_cameraImages_timestamps">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
2016-01-13 18:13:44 -05:00
<property name="text">
<string/>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="4" column="1">
<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
2016-01-11 17:21:06 -05:00
<property name="text">
<string/>
</property>
</widget>
2016-01-06 17:26:55 -05:00
</item>
2016-01-19 17:43:33 -05:00
<item row="4" column="2">
<widget class="QLabel" name="label_288">
2016-01-11 17:21:06 -05:00
<property name="text">
2016-01-19 17:43:33 -05:00
<string>Ground truth file. Select the correct format below.</string>
2016-01-11 17:21:06 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
2016-01-06 17:26:55 -05:00
</item>
2016-01-19 17:43:33 -05:00
<item row="5" column="2">
<widget class="QLabel" name="label_289">
2016-01-11 17:21:06 -05:00
<property name="text">
2016-01-19 17:43:33 -05:00
<string>Ground truth format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2016-01-11 17:21:06 -05:00
</property>
</widget>
2016-01-06 17:26:55 -05:00
</item>
2016-01-19 17:43:33 -05:00
<item row="8" column="2">
<widget class="QLabel" name="label_292">
2016-01-11 17:21:06 -05:00
<property name="text">
2016-01-19 17:43:33 -05:00
<string>Maximum laser scan points.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2016-01-11 17:21:06 -05:00
</property>
</widget>
2016-01-06 17:26:55 -05:00
</item>
2016-01-13 18:13:44 -05:00
<item row="2" column="2">
2016-01-19 17:43:33 -05:00
<widget class="QLabel" name="label_256">
2016-01-11 17:21:06 -05:00
<property name="text">
2016-01-19 17:43:33 -05:00
<string>Synchronize capture rate with timestamps.</string>
2016-01-11 17:21:06 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
2016-01-11 17:21:06 -05:00
<property name="text">
2016-01-19 17:43:33 -05:00
<string/>
2016-01-11 17:21:06 -05:00
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="6" column="1">
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
2016-01-11 17:21:06 -05:00
<property name="text">
<string/>
</property>
</widget>
</item>
2016-01-13 18:13:44 -05:00
<item row="3" column="2">
2016-01-19 17:43:33 -05:00
<widget class="QLabel" name="label_251">
2016-01-11 17:21:06 -05:00
<property name="text">
2016-01-19 17:43:33 -05:00
<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
2016-01-11 17:21:06 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="4" column="0">
<widget class="QToolButton" name="toolButton_cameraImages_gt">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="5" column="1">
2016-01-11 17:21:06 -05:00
<widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
2016-01-19 17:43:33 -05:00
<property name="toolTip">
<string><html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)</p></body></html></string>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
2016-01-11 17:21:06 -05:00
<item>
<property name="text">
<string>Raw</string>
</property>
</item>
<item>
<property name="text">
<string>RGBD-SLAM</string>
</property>
</item>
<item>
<property name="text">
<string>KITTI</string>
</property>
</item>
<item>
<property name="text">
<string>TORO</string>
2016-01-15 17:05:55 -05:00
</property>
</item>
<item>
<property name="text">
<string>g2o</string>
</property>
</item>
<item>
<property name="text">
2016-01-19 17:43:33 -05:00
<string>NewCollege</string>
</property>
</item>
<item>
<property name="text">
<string>Malaga Urban</string>
</property>
</item>
<item>
<property name="text">
<string>St Lucia Stereo</string>
2016-01-11 17:21:06 -05:00
</property>
</item>
2016-01-19 21:53:45 -05:00
<item>
<property name="text">
<string>Karlsruhe</string>
</property>
</item>
2016-01-11 17:21:06 -05:00
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="6" column="0">
2016-01-11 17:21:06 -05:00
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="6" column="2">
2016-01-11 17:21:06 -05:00
<widget class="QLabel" name="label_293">
<property name="text">
<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="7" column="1">
2016-01-11 17:21:06 -05:00
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
<property name="toolTip">
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0</p></body></html></string>
</property>
<property name="text">
<string>0 0 0 0 0 0</string>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="7" column="2">
2016-01-11 17:21:06 -05:00
<widget class="QLabel" name="label_294">
<property name="text">
<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="8" column="1">
2016-01-11 17:21:06 -05:00
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
<property name="toolTip">
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
</property>
<property name="maximum">
<number>99999999</number>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="0" column="2">
<widget class="QLabel" name="label_265">
2016-01-13 18:13:44 -05:00
<property name="text">
2016-01-19 17:43:33 -05:00
<string>Bayer mode. For convenience, if the images are bayered.</string>
2016-01-13 18:13:44 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-19 17:43:33 -05:00
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraImages_bayerMode">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
2016-01-13 18:13:44 -05:00
</property>
2016-01-19 17:43:33 -05:00
<item>
<property name="text">
<string>Disabled</string>
</property>
</item>
<item>
<property name="text">
<string>BG</string>
</property>
</item>
<item>
<property name="text">
<string>GB</string>
</property>
</item>
<item>
<property name="text">
<string>RG</string>
</property>
</item>
<item>
<property name="text">
<string>GR</string>
</property>
</item>
2016-01-13 18:13:44 -05:00
</widget>
</item>
2016-01-11 17:21:06 -05:00
</layout>
2016-01-06 17:26:55 -05:00
</item>
2016-01-11 17:21:06 -05:00
<item>
<widget class="QGroupBox" name="groupBox_depthFromScan">
<property name="title">
<string>Generate depth image from laser scan</string>
2016-01-06 17:26:55 -05:00
</property>
2016-01-11 17:21:06 -05:00
<property name="checkable">
2016-01-06 17:26:55 -05:00
<bool>true</bool>
</property>
2016-01-11 17:21:06 -05:00
<property name="checked">
<bool>false</bool>
2016-01-06 17:26:55 -05:00
</property>
2016-03-10 12:31:22 -05:00
<layout class="QVBoxLayout" name="verticalLayout_100">
<item>
<widget class="QGroupBox" name="groupBox_depthFromScan_fillHoles">
<property name="title">
<string>Interpolate depth values to fill holes</string>
2016-01-11 17:21:06 -05:00
</property>
2016-03-10 12:31:22 -05:00
<property name="checkable">
2016-01-11 17:21:06 -05:00
<bool>true</bool>
</property>
2016-03-10 12:31:22 -05:00
<layout class="QVBoxLayout" name="verticalLayout_99">
<item>
<widget class="QRadioButton" name="radioButton_depthFromScan_vertical">
<property name="text">
<string>Vertically</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_depthFromScan_horizontal">
<property name="text">
<string>Horizontally</string>
</property>
</widget>
</item>
</layout>
2016-01-11 17:21:06 -05:00
</widget>
</item>
2016-03-10 12:31:22 -05:00
<item>
2016-01-11 17:21:06 -05:00
<widget class="QCheckBox" name="checkBox_depthFromScan_fillBorders">
<property name="text">
<string>Fill holes from the image border.</string>
</property>
</widget>
</item>
</layout>
2016-01-06 17:26:55 -05:00
</widget>
</item>
</layout>
</widget>
</item>
<item>
2016-01-08 19:15:49 -05:00
<widget class="QGroupBox" name="groupBox_scan">
2016-01-06 17:26:55 -05:00
<property name="title">
2016-01-08 19:15:49 -05:00
<string>Laser scans</string>
2016-01-06 17:26:55 -05:00
</property>
<property name="checkable">
2016-01-08 19:15:49 -05:00
<bool>false</bool>
2016-01-06 17:26:55 -05:00
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<widget class="QLabel" name="label_16">
<property name="text">
2016-01-08 19:15:49 -05:00
<string>If you want to use ICP registration, the sensor data should have laser scan. Laser scans can be created from the depth images (see option below) or loaded from the source selected. The latter parameters can be used to reduce the point cloud size directly in the capturing thread.</string>
2016-01-06 17:26:55 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
2016-01-08 19:15:49 -05:00
<widget class="QGroupBox" name="groupBox_scanFromDepth">
<property name="title">
<string>Generate laser scan from depth image</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_cameraScanFromDepth_decimation">
<property name="maximum">
<number>99999</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_299">
<property name="text">
<string>Decimation (should be a multiple of the image size). Note that it is done after general image decimation above.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraSCanFromDepth_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_301">
<property name="text">
<string>Maximum depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_62" columnstretch="0,1">
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_cameraImages_scanNormalsK">
<property name="toolTip">
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_300">
2016-01-06 17:26:55 -05:00
<property name="text">
2016-02-19 21:05:14 -05:00
<string>Downsample step size for laser scans. If your laser scans are created from depth images, use Decimation above instead (faster).</string>
2016-01-06 17:26:55 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraImages_scanVoxelSize">
<property name="toolTip">
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
</property>
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="0" column="0">
2016-01-08 19:15:49 -05:00
<widget class="QSpinBox" name="spinBox_cameraImages_scanDownsampleStep">
<property name="toolTip">
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
2016-01-06 17:26:55 -05:00
</property>
2016-01-08 19:15:49 -05:00
<property name="minimum">
2016-01-06 17:26:55 -05:00
<number>1</number>
</property>
2016-01-08 19:15:49 -05:00
<property name="maximum">
<number>99999999</number>
</property>
2016-01-06 17:26:55 -05:00
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_302">
2016-01-06 17:26:55 -05:00
<property name="text">
2016-01-08 19:15:49 -05:00
<string>Voxel size for uniform sampling. Note that it is done after downsampling.</string>
2016-01-06 17:26:55 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-08 19:15:49 -05:00
<item row="2" column="1">
<widget class="QLabel" name="label_304">
<property name="text">
<string>K nearest neighbors for normals computation (0=disabled, 20 can be a good default value). Useful if the ICP registration approach is point to plane.</string>
2016-01-06 17:26:55 -05:00
</property>
2016-01-08 19:15:49 -05:00
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2016-01-06 17:26:55 -05:00
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
2012-12-11 18:05:05 +00:00
</layout>
2012-06-24 17:19:34 +00:00
</widget>
</item>
2012-12-11 18:05:05 +00:00
<item>
2013-12-11 00:12:44 +00:00
<spacer name="verticalSpacer_7">
2012-12-11 18:05:05 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
2012-06-24 17:19:34 +00:00
</item>
</layout>
2011-06-05 14:45:39 +00:00
</widget>
2013-12-11 00:12:44 +00:00
<widget class="QWidget" name="page_20">
<layout class="QVBoxLayout" name="verticalLayout_23">
2012-12-11 18:05:05 +00:00
<item>
2013-12-11 00:12:44 +00:00
<widget class="QGroupBox" name="groupBox_rtabmap_basic0">
2012-12-11 18:05:05 +00:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>RTAB-Map Settings</string>
2012-12-11 18:05:05 +00:00
</property>
2014-10-28 01:20:57 +00:00
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate_2">
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
2015-08-01 23:42:36 -04:00
<number>3</number>
2014-10-28 01:20:57 +00:00
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
2012-12-11 18:05:05 +00:00
<item row="0" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QCheckBox" name="general_checkBox_SLAM_mode_2">
2012-12-11 18:05:05 +00:00
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="0" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_79">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>SLAM mode.
If set to false, global localization is performed, so without adding new data to the map.</string>
2012-12-11 18:05:05 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_activateRGBD_2">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string/>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="checked">
2012-12-11 18:05:05 +00:00
<bool>true</bool>
</property>
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="1" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_activateRGBD_2">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>Activate metric RGB-D SLAM.
If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.</string>
2012-12-11 18:05:05 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_publishStats_2">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string/>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="checked">
2012-12-11 18:05:05 +00:00
<bool>true</bool>
</property>
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="2" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_publishStat">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>Publish statistics.</string>
2012-12-11 18:05:05 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="3" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_134">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>Detection rate (0 means inf). RTAB-Map will filter input images to satisfy this rate.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
2012-12-11 18:05:05 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="4" column="0">
<widget class="QSpinBox" name="general_spinBox_imagesBufferSize_2">
2012-12-11 18:05:05 +00:00
<property name="maximum">
<number>999</number>
</property>
<property name="value">
2013-12-11 00:12:44 +00:00
<number>1</number>
2012-12-11 18:05:05 +00:00
</property>
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="4" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_112">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>Images buffer size (0 means inf).</string>
2012-12-11 18:05:05 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr_2">
<property name="suffix">
<string> ms</string>
</property>
2012-12-11 18:05:05 +00:00
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
<property name="singleStep">
<double>50.000000000000000</double>
</property>
<property name="value">
<double>700.000000000000000</double>
</property>
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="5" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_timeLimit_2">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>T_time : Max time (ms) allowed (0 means inf).</string>
2012-12-11 18:05:05 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr_2">
<property name="maximum">
<double>1.000000000000000</double>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="singleStep">
<double>0.010000000000000</double>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="value">
<double>0.950000000000000</double>
2012-12-11 18:05:05 +00:00
</property>
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="6" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_121">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>T_loop : Loop closure threshold.</string>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="wordWrap">
2012-12-11 18:05:05 +00:00
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_similarityThreshold_2">
<property name="maximum">
<double>1.000000000000000</double>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="value">
<double>0.200000000000000</double>
2012-12-11 18:05:05 +00:00
</property>
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="7" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_similarity_2">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>T_similarity : Similarity threshold (for Rehearsal/Weight Update).</string>
2012-12-11 18:05:05 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="8" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize_2">
<property name="minimum">
<number>1</number>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="maximum">
<number>9999</number>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="value">
<number>15</number>
2012-12-11 18:05:05 +00:00
</property>
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="8" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_126">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>STM size : Short-term memory size.</string>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<property name="wordWrap">
2012-12-11 18:05:05 +00:00
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
</layout>
</widget>
</item>
<item>
2013-12-11 00:12:44 +00:00
<spacer name="verticalSpacer_5">
2012-12-11 18:05:05 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
2011-06-05 14:45:39 +00:00
</widget>
2013-12-11 00:12:44 +00:00
<widget class="QWidget" name="page">
<layout class="QVBoxLayout" name="verticalLayout_44">
2012-12-11 18:05:05 +00:00
<item>
2013-12-11 00:12:44 +00:00
<widget class="QGroupBox" name="groupBox_rtabmap_advanced0">
2012-12-11 18:05:05 +00:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>RTAB-Map Settings</string>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<layout class="QVBoxLayout" name="verticalLayout_15">
2012-12-11 18:05:05 +00:00
<item>
2015-01-07 17:30:20 -05:00
<layout class="QGridLayout" name="gridLayout_43" columnstretch="0,1">
2012-12-11 18:05:05 +00:00
<item row="0" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QCheckBox" name="general_checkBox_SLAM_mode">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string/>
</property>
<property name="checked">
<bool>true</bool>
2012-12-11 18:05:05 +00:00
</property>
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="0" column="1">
<widget class="QLabel" name="label_92">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>SLAM mode.
If set to false, global localization is performed, so without adding new data to the map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
2012-12-11 18:05:05 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2015-06-11 16:57:16 -04:00
<item row="4" column="0">
<widget class="QCheckBox" name="general_checkBox_startNewMapOnLoopClosure">
<property name="text">
<string/>
2013-12-11 00:12:44 +00:00
</property>
2015-06-11 16:57:16 -04:00
<property name="checked">
<bool>true</bool>
2012-12-11 18:05:05 +00:00
</property>
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="1" column="1">
<widget class="QLabel" name="label_135">
<property name="text">
<string>Detection rate (0 means inf). RTAB-Map will filter input data to satisfy this rate. If you want to process all data, consider set "Detection rate" to 0 and "Data buffer size" to 0.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
2012-12-11 18:05:05 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_imagesBufferSize">
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
2012-12-11 18:05:05 +00:00
</item>
2015-06-11 16:57:16 -04:00
<item row="4" column="1">
<widget class="QLabel" name="label_185">
<property name="text">
<string>Start a new map only if there is a global loop closure detected first with a previous map. If there is no map in memory, a new map is still created.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-11 16:57:16 -04:00
</widget>
</item>
2015-01-07 17:30:20 -05:00
<item row="2" column="1">
<widget class="QLabel" name="label_84">
<property name="text">
<string>Data buffer size (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-01-07 17:30:20 -05:00
</widget>
</item>
2015-06-11 16:57:16 -04:00
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate">
<property name="suffix">
<string> Hz</string>
2014-10-01 19:52:46 +00:00
</property>
2015-06-11 16:57:16 -04:00
<property name="decimals">
2015-08-01 23:42:36 -04:00
<number>3</number>
2015-06-11 16:57:16 -04:00
</property>
<property name="value">
<double>1.000000000000000</double>
2014-10-01 19:52:46 +00:00
</property>
</widget>
</item>
<item row="3" column="1">
2015-06-11 16:57:16 -04:00
<widget class="QLabel" name="label_165">
2014-10-01 19:52:46 +00:00
<property name="text">
2015-06-11 16:57:16 -04:00
<string>Create intermediate nodes if odometry is faster than the detection rate.</string>
2014-10-01 19:52:46 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-10-01 19:52:46 +00:00
</widget>
</item>
2015-06-11 16:57:16 -04:00
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_createIntermediateNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2012-12-11 18:05:05 +00:00
</layout>
</item>
<item>
2013-12-11 00:12:44 +00:00
<widget class="QGroupBox" name="groupBox_6">
<property name="title">
<string>Thresholds</string>
</property>
2015-01-07 17:30:20 -05:00
<layout class="QGridLayout" name="gridLayout_44" columnstretch="0,1">
2013-12-11 00:12:44 +00:00
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr">
<property name="suffix">
<string> ms</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
<property name="singleStep">
<double>50.000000000000000</double>
</property>
<property name="value">
<double>700.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_timeLimit">
<property name="text">
<string>T_time : Max time (ms) allowed (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="general_spinBox_memoryThr">
<property name="maximum">
<number>99999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_maxWmSize">
<property name="text">
<string>Maximum signatures allowed in Working Memory (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.950000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_93">
<property name="text">
<string>T_loop : Loop closure threshold. Setting to 0 means that the new place hypothesis is used as threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_loopRatio">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_96">
<property name="text">
<string>T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_publishing">
<property name="title">
2014-10-18 13:12:45 +00:00
<string>Publish statistics (stuff to be shown in the GUI)</string>
</property>
<property name="checkable">
<bool>true</bool>
2013-12-11 00:12:44 +00:00
</property>
2015-01-07 17:30:20 -05:00
<layout class="QGridLayout" name="gridLayout_45" columnstretch="0,1">
2013-12-11 00:12:44 +00:00
<item row="0" column="0">
2014-10-18 13:12:45 +00:00
<widget class="QCheckBox" name="general_checkBox_publishRawData">
2013-12-11 00:12:44 +00:00
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
2014-10-18 13:12:45 +00:00
<widget class="QLabel" name="label_91">
2013-12-11 00:12:44 +00:00
<property name="text">
2014-10-26 21:47:29 +00:00
<string>Publish signature data.</string>
2013-12-11 00:12:44 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="1" column="0">
2014-10-18 13:12:45 +00:00
<widget class="QCheckBox" name="general_checkBox_publishPdf">
2013-12-11 00:12:44 +00:00
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
2014-10-18 13:12:45 +00:00
<widget class="QLabel" name="label_106">
2013-12-11 00:12:44 +00:00
<property name="text">
2014-10-18 13:12:45 +00:00
<string>Publish loop closure hypotheses (pdf).</string>
2013-12-11 00:12:44 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="2" column="0">
2014-10-18 13:12:45 +00:00
<widget class="QCheckBox" name="general_checkBox_publishLikelihood">
2013-12-11 00:12:44 +00:00
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
2014-10-18 13:12:45 +00:00
<widget class="QLabel" name="label_116">
2013-12-11 00:12:44 +00:00
<property name="text">
2014-10-18 13:12:45 +00:00
<string>Publish loop closure likelihood.</string>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-10-18 13:12:45 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_statistics">
<property name="title">
2014-10-18 13:12:45 +00:00
<string>Log statistics (LogI.txt and LogF.txt) in the working directory.</string>
</property>
<property name="checkable">
<bool>true</bool>
2013-12-11 00:12:44 +00:00
</property>
2015-01-07 17:30:20 -05:00
<layout class="QGridLayout" name="gridLayout_46" columnstretch="0,1">
2014-10-18 13:12:45 +00:00
<item row="0" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QCheckBox" name="general_checkBox_statisticLogsBufferedInRAM">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
2014-10-18 13:12:45 +00:00
<item row="0" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_143">
<property name="text">
<string>Statistics logs buffered in RAM and written to hard drive on exit (otherwise logs are written at each iteration on hard drive).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2014-10-18 13:12:45 +00:00
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_statisticLoggedHeaders">
2013-12-11 00:12:44 +00:00
<property name="text">
2014-10-18 13:12:45 +00:00
<string/>
2013-12-11 00:12:44 +00:00
</property>
2014-10-18 13:12:45 +00:00
<property name="checked">
2013-12-11 00:12:44 +00:00
<bool>true</bool>
</property>
</widget>
</item>
2014-10-18 13:12:45 +00:00
<item row="1" column="1">
<widget class="QLabel" name="label_209">
2013-12-11 00:12:44 +00:00
<property name="text">
2014-10-18 13:12:45 +00:00
<string>Add headers (column names) to log files.</string>
2013-12-11 00:12:44 +00:00
</property>
2014-10-18 13:12:45 +00:00
<property name="wordWrap">
2013-12-11 00:12:44 +00:00
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
</layout>
</widget>
</item>
<item>
2014-10-28 01:20:57 +00:00
<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,0,0">
2012-12-11 18:05:05 +00:00
<item row="0" column="0">
2013-12-11 00:12:44 +00:00
<widget class="QLabel" name="label_workingDirectory">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>Working directory (where to put logs/dump stuff).</string>
2012-12-11 18:05:05 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2012-12-11 18:05:05 +00:00
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="0" column="1">
2013-12-11 00:12:44 +00:00
<widget class="QToolButton" name="toolButton_workingDirectory">
2012-12-11 18:05:05 +00:00
<property name="text">
2013-12-11 00:12:44 +00:00
<string>...</string>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2014-10-28 01:20:57 +00:00
<item row="0" column="2">
2013-12-11 00:12:44 +00:00
<widget class="QLineEdit" name="lineEdit_workingDirectory">
<property name="readOnly">
2012-12-11 18:05:05 +00:00
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
2013-12-11 00:12:44 +00:00
<spacer name="verticalSpacer_4">
2012-12-11 18:05:05 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
2011-06-05 14:45:39 +00:00
</widget>
2016-01-12 14:54:20 -05:00
<widget class="QWidget" name="page_3">
<layout class="QVBoxLayout" name="verticalLayout_4">
2012-12-11 18:05:05 +00:00
<item>
2016-01-12 14:54:20 -05:00
<widget class="QGroupBox" name="groupBox_memory1">
2012-12-11 18:05:05 +00:00
<property name="title">
2016-01-12 14:54:20 -05:00
<string>Memory</string>
2015-12-11 17:44:15 -05:00
</property>
2016-01-12 14:54:20 -05:00
<layout class="QVBoxLayout" name="verticalLayout_10">
2013-12-11 00:12:44 +00:00
<item>
2016-01-12 14:54:20 -05:00
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
<item row="4" column="1">
<widget class="QLabel" name="label_retrieved_2">
<property name="text">
<string>True=Generate location Ids, False=use input image ids.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>15</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_retrieved">
<property name="text">
<string>Maximum locations retrieved at the same time from LTM to WM.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="general_checkBox_generateIds">
2013-12-11 00:12:44 +00:00
<property name="text">
<string/>
</property>
2016-01-12 14:54:20 -05:00
<property name="checked">
<bool>true</bool>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_transferSortingByWeightId">
2014-06-22 03:33:56 +00:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_retrieved_9">
<property name="text">
<string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string>
2013-12-11 00:12:44 +00:00
</property>
<property name="wordWrap">
2015-11-30 19:39:05 -05:00
<bool>true</bool>
2013-12-11 00:12:44 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="13" column="0">
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
2015-11-30 19:39:05 -05:00
<item row="7" column="1">
<widget class="QLabel" name="label_retrieved_10">
2013-12-11 00:12:44 +00:00
<property name="text">
2015-11-30 19:39:05 -05:00
<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</string>
2013-12-11 00:12:44 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-11-22 18:08:32 -05:00
</property>
</widget>
2015-03-09 15:25:51 -04:00
</item>
2015-04-27 02:43:06 -04:00
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
2015-11-30 19:39:05 -05:00
<item row="8" column="1">
2015-02-13 15:25:40 -05:00
<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-02-13 15:25:40 -05:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>STM size : Short-term memory size.</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_ratioRecent">
<property name="text">
<string>T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_maxRetrieved">
<property name="maximum">
<number>999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
2015-11-27 14:57:29 -05:00
<item row="6" column="0">
2014-09-21 21:14:17 +00:00
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
<string/>
</property>
<property name="checked">
2015-02-17 17:30:47 -05:00
<bool>false</bool>
2014-09-21 21:14:17 +00:00
</property>
</widget>
</item>
2015-11-27 14:57:29 -05:00
<item row="6" column="1">
2014-01-15 20:41:58 +00:00
<widget class="QLabel" name="label_retrieved_3">
<property name="text">
<string>Bad signatures are ignored.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-01-15 20:41:58 +00:00
</widget>
</item>
2015-11-27 14:57:29 -05:00
<item row="8" column="0">
2014-09-21 21:14:17 +00:00
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
2014-01-15 20:41:58 +00:00
<property name="text">
<string/>
</property>
<property name="checked">
2014-09-21 21:14:17 +00:00
<bool>false</bool>
2014-01-15 20:41:58 +00:00
</property>
</widget>
</item>
2015-11-27 14:57:29 -05:00
<item row="9" column="1">
2015-01-12 18:23:25 -05:00
<widget class="QLabel" name="label_retrieved_5">
2015-01-07 17:30:20 -05:00
<property name="text">
2015-01-12 18:23:25 -05:00
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
2015-01-07 17:30:20 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-01-07 17:30:20 -05:00
</widget>
</item>
2015-11-27 14:57:29 -05:00
<item row="9" column="0">
2015-01-12 18:23:25 -05:00
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="13" column="1">
2015-02-13 15:25:40 -05:00
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
2016-04-08 16:15:08 -04:00
<string>Image post decimation. This option can be used to save images in lower resolution (size/decimation). It is done on the original image.</string>
2015-02-13 15:25:40 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-02-13 15:25:40 -05:00
</widget>
</item>
2015-03-09 15:25:51 -04:00
<item row="3" column="1">
<widget class="QLabel" name="label_retrieved_7">
<property name="text">
<string>On transfer, signatures are sorted by weight->ID (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.</string>
2015-02-13 15:25:40 -05:00
</property>
2015-03-09 15:25:51 -04:00
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-03-09 15:25:51 -04:00
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="14" column="1">
2015-04-27 02:43:06 -04:00
<widget class="QLabel" name="label_retrieved_8">
<property name="text">
2015-11-22 18:08:32 -05:00
<string>If > 1, downsample the laser scans when creating a location. This feature can be used to save laser scans already downsampled.</string>
2015-04-27 02:43:06 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-04-27 02:43:06 -04:00
</widget>
</item>
2015-11-30 19:39:05 -05:00
<item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_reduceGraph">
2015-08-27 17:16:12 -04:00
<property name="text">
<string/>
2015-04-27 02:43:06 -04:00
</property>
2015-08-27 17:16:12 -04:00
<property name="checked">
<bool>false</bool>
2015-04-27 02:43:06 -04:00
</property>
</widget>
</item>
2015-11-30 19:39:05 -05:00
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_11">
2015-10-24 17:03:44 -04:00
<property name="text">
2015-11-30 19:39:05 -05:00
<string>Create map labels. The first node of a map will be labelled as "map#" where # is the map ID.</string>
2015-10-24 17:03:44 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-11-30 19:39:05 -05:00
<item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_createMapLabels">
2015-10-24 17:03:44 -04:00
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="14" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
2015-11-30 19:39:05 -05:00
<item row="11" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
2015-11-27 14:57:29 -05:00
<property name="text">
<string/>
</property>
2015-10-24 17:03:44 -04:00
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="10" column="1">
<widget class="QLabel" name="label_retrieved_12">
<property name="text">
<string>Raw descriptors kept in memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="12" column="0">
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_retrieved_13">
<property name="text">
<string>Image pre decimation. This option can be used to reduce image size before features extraction.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2013-12-11 00:12:44 +00:00
</layout>
2012-12-11 18:05:05 +00:00
</item>
2013-12-11 00:12:44 +00:00
<item>
<widget class="QGroupBox" name="groupBox_rehearsal2">
<property name="title">
<string>Rehearsal / Weight Update</string>
2012-12-11 18:05:05 +00:00
</property>
2013-12-11 00:12:44 +00:00
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
2015-05-04 16:00:21 -04:00
<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_RehearsalIdUpdatedToNewOne">
<property name="text">
<string/>
</property>
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item row="0" column="1">
<widget class="QLabel" name="label_similarity">
<property name="text">
<string>T_similarity : Similarity threshold. Values must be >=0.0 ans <=1.0.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_similarityThreshold">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_rehearsalIdUpdate">
<property name="text">
<string>On merging, update to new id.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2013-12-11 00:12:44 +00:00
</widget>
</item>
2015-05-04 16:00:21 -04:00
<item row="3" column="1">
<widget class="QLabel" name="label_rehearsalIdUpdate_2">
<property name="text">
<string>Ignore Weight Update when the robot is moving.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-05-04 16:00:21 -04:00
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="rgdb_rehearsalWeightIgnoredWhileMoving">
2013-12-11 00:12:44 +00:00
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
2012-12-11 18:05:05 +00:00
</widget>
</item>
</layout>
</widget>
</item>
<item>
2013-12-11 00:12:44 +00:00
<spacer name="verticalSpacer_6">
2012-12-11 18:05:05 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
2011-06-13 18:29:21 +00:00
</widget>
2015-11-22 18:08:32 -05:00
<widget class="QWidget" name="page_9">
<layout class="QVBoxLayout" name="verticalLayout_58">
2012-12-11 18:05:05 +00:00
<item>
2015-11-22 18:08:32 -05:00
<widget class="QGroupBox" name="groupBox_signature_keypoint2">
2012-12-11 18:05:05 +00:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>Vocabulary</string>
2012-12-11 18:05:05 +00:00
</property>
2015-11-22 18:08:32 -05:00
<layout class="QVBoxLayout" name="verticalLayout_12">
2016-02-22 17:57:40 -05:00
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,1">
<item>
<widget class="QCheckBox" name="checkBox_useOdomFeatures">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_145">
<property name="text">
<string>Use odometry features. Disable to select different feature type. Note that if no features are received, they will be re-extracted (if visual odometry is used, you may want to match the feature type below with the one used for odometry).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
2015-11-22 18:08:32 -05:00
<item>
<widget class="QGroupBox" name="groupBox_8">
<property name="title">
<string>Features Extraction</string>
2012-12-11 18:05:05 +00:00
</property>
2015-11-22 18:08:32 -05:00
<layout class="QVBoxLayout" name="verticalLayout_60">
<item>
<layout class="QGridLayout" name="gridLayout_32" columnstretch="0,1">
2016-02-22 17:57:40 -05:00
<item row="3" column="1">
<widget class="QLabel" name="label_22">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
<string>Maximum words per image (0=no maximum). Setting to -1 will disable features extraction, so disabling loop closure detection indirectly.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="4" column="1">
<widget class="QLabel" name="label_81">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
2016-02-22 17:57:40 -05:00
<property name="text">
2016-03-01 14:40:40 -05:00
<string>Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).</string>
2016-02-22 17:57:40 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="8" column="1">
<widget class="QLabel" name="label_99">
<property name="text">
<string>Top ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.250000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_57">
2016-02-22 17:57:40 -05:00
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
2016-03-01 14:40:40 -05:00
<string>Minimum words depth. Only used when a depth image is provided. Applied before "Maximum words per image".</string>
2016-02-22 17:57:40 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="5" column="1">
<widget class="QLabel" name="label_101">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
2016-02-22 17:57:40 -05:00
<widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_detector_strategy">
<item>
<property name="text">
<string>SURF</string>
</property>
</item>
<item>
<property name="text">
<string>SIFT</string>
</property>
</item>
<item>
<property name="text">
<string>ORB</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>BRISK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+ORB</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_53">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
<string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image".</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="7" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_117">
<property name="text">
<string>Visual word type.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="6" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="6" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_97">
<property name="text">
<string>Left ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="7" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_98">
<property name="text">
<string>Right ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="8" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="9" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
2016-03-01 14:40:40 -05:00
<item row="9" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_100">
<property name="text">
<string>Bottom ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_minDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_15">
<property name="title">
<string>Sub Pixel Refining</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_76">
<item>
<widget class="QLabel" name="label_44">
<property name="text">
<string>Refining features to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_41" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="subpix_winSize_kp">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_202">
<property name="text">
<string>Window size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="subpix_iterations_kp">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_225">
<property name="text">
<string>Iterations. 0 disables sub pixel refining.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="subpix_eps_kp">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.030000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_227">
<property name="text">
<string>Epsilon.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_dictionary_strategy2">
<property name="title">
<string>Features Quantization</string>
</property>
<layout class="QGridLayout" name="gridLayout_18" columnstretch="0,0,1">
<item row="3" column="1">
<widget class="QToolButton" name="toolButton_dictionaryPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_78">
<property name="text">
<string>NNDR ratio
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
Lower the ratio -> higher the precision.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_nndrRatio">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_dictionaryPath"/>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_dictionaryPath">
<property name="text">
<string>Path to a pre-computed dictionary (when "Use an incremental vocabulary" is not set).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_dictionary_incremental">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Nearest neighbor strategy.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_dictionary_strategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>FLANN Linear</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN KdTree </string>
</property>
2015-11-22 18:08:32 -05:00
</item>
2016-01-12 14:54:20 -05:00
<item>
<property name="text">
<string>FLANN LSH</string>
</property>
2015-11-22 18:08:32 -05:00
</item>
2016-01-12 14:54:20 -05:00
<item>
<property name="text">
<string>Brute Force</string>
</property>
2015-11-22 18:08:32 -05:00
</item>
2016-01-12 14:54:20 -05:00
<item>
<property name="text">
<string>Brute Force GPU</string>
</property>
2015-11-22 18:08:32 -05:00
</item>
2016-01-12 14:54:20 -05:00
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_incrementalDict">
<property name="text">
<string>Use an incremental vocabulary.
When set to false, no new words are added to dictionary, so no more updates are required after each detection, which greatly increases time performance at the cost of lower adaptation to new environments.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_94">
<property name="text">
<string>If the dictionary update and signature creation were parallelized.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_kp_parallelized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_kp_newWordsComparedTogether">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_186">
<property name="text">
<string>When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_260">
<property name="text">
<string>When using a FLANN-based nearest neighbor strategy, add/remove points to its index without always rebuilding the index (the index is built only when the vocabulary doubles in size).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_kp_incrementalFlann">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_15">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_24">
<layout class="QVBoxLayout" name="verticalLayout_33">
<item>
<widget class="QGroupBox" name="groupBox_database2">
<property name="title">
<string>Database</string>
</property>
<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_keepBinaryData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_keepRawData">
<property name="text">
<string>Keep sensor compressed data.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_dbInMemory">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_dbCacheSize">
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>2000</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_75">
<property name="text">
<string>Sqlite3 cache size,
see Sqlite3 doc 'PRAGMA cache_size'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="comboBox_dbJournalMode">
<item>
<property name="text">
<string>DELETE</string>
</property>
</item>
<item>
<property name="text">
<string>TRUNCATE</string>
</property>
</item>
<item>
<property name="text">
<string>PERSIST</string>
</property>
</item>
<item>
<property name="text">
<string>MEMORY</string>
</property>
</item>
<item>
<property name="text">
<string>OFF</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_77">
<property name="text">
<string>Sqlite3 journal mode,
see Sqlite3 doc 'PRAGMA journal_mode'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_74">
<property name="text">
<string>Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_89">
<property name="text">
<string>Sqlite3 synchronous,
see Sqlite3 doc 'PRAGMA synchronous'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_120">
<property name="text">
<string>Sqlite3 temp store,
see Sqlite3 doc 'PRAGMA temp_store'.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_dbSynchronous">
<property name="currentIndex">
<number>2</number>
</property>
<item>
<property name="text">
<string>OFF</string>
</property>
</item>
<item>
<property name="text">
<string>NORMAL</string>
</property>
</item>
<item>
<property name="text">
<string>FULL</string>
</property>
</item>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="comboBox_dbTempStore">
<item>
<property name="text">
<string>DEFAULT</string>
</property>
</item>
<item>
<property name="text">
<string>FILE</string>
</property>
</item>
<item>
<property name="text">
<string>MEMORY</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_keepRehearsed">
<property name="text">
<string>Keep not linked nodes in db (rehearsed nodes and deleted nodes are saved).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_keepNotLinkedNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_12">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_23">
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QGroupBox" name="groupBox_bayes1">
<property name="title">
<string>Loop Closure Detection</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_22">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Prediction probabilities for each loop closure event:</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_76">
<property name="text">
<string>We can edit how will like the prediction used in the Bayes filter when there is a loop closure hypothesis. Format is [VP LC N1 N2 N3...]. LC is the loop closure event and N# are its neighbors. VP (virtual place) is the probability to be in a new place when a loop closure was found on the last iteration.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_24">
<item row="0" column="0">
<widget class="QLabel" name="label_65">
<property name="text">
<string>Prediction</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_66">
<property name="text">
<string>Sum</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_prediction_sum">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_bayes_predictionLC">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6" stretch="0,1">
<item>
<widget class="QLabel" name="label_63">
<property name="text">
<string>Preview</string>
</property>
</widget>
</item>
<item>
<widget class="UPlot" name="predictionPlot" native="true"/>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_22" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_bayes_fullPredictionUpdate">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_vp">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.900000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_113">
<property name="text">
<string>The VP here is the probability to be in a new place since no loop closure was found on the last iteration.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_142">
<property name="text">
<string>Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_82">
<property name="text">
<string>Use the tf-idf method to compute the likelihood. Otherwise, images are compared with each other.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_vh_strategy2">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Hypothesis Verification</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_vh_strategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
2015-11-22 18:08:32 -05:00
</property>
2016-01-12 14:54:20 -05:00
<item>
<property name="text">
<string>No verification</string>
</property>
</item>
<item>
<property name="text">
<string>Epipolar constraints</string>
</property>
</item>
2015-11-22 18:08:32 -05:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="0" column="1">
<widget class="QLabel" name="label_50">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Hypothesis verification.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
2016-01-12 14:54:20 -05:00
<widget class="QGroupBox" name="groupBox_vh_epipolar2">
2015-11-22 18:08:32 -05:00
<property name="title">
2016-01-12 14:54:20 -05:00
<string>Epipolar Constraints</string>
2015-02-20 15:32:39 -05:00
</property>
2016-01-12 14:54:20 -05:00
<layout class="QGridLayout" name="gridLayout" columnstretch="0,10">
<item row="0" column="0">
<widget class="QSpinBox" name="surf_spinBox_matchCountMinAccepted">
<property name="minimum">
<number>8</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>11</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_25">
<property name="text">
<string>Minimum match count to accept a loop closure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ransacParam1">
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_27">
<property name="text">
<string>Fundamental Matrix : Distance (pixels) for inliers.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ransacParam2">
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>0.990000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.990000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_28">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Fundamental Matrix : Ransac performance.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
2015-02-20 15:32:39 -05:00
</widget>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</widget>
</item>
2016-01-12 14:54:20 -05:00
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_23">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_10">
<layout class="QVBoxLayout" name="verticalLayout_19">
<item>
<widget class="QGroupBox" name="groupBox_slam1">
<property name="title">
<string>RGB-D SLAM</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_25">
2015-11-22 18:08:32 -05:00
<item>
2016-01-12 14:54:20 -05:00
<layout class="QHBoxLayout" name="horizontalLayout_4" stretch="0,1">
<item>
<widget class="QCheckBox" name="general_checkBox_activateRGBD">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_activateRGBD">
<property name="text">
<string>Activate metric RGB-D SLAM. This module enables 6d metric SLAM directly in RTAB-Map.
If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="label_83">
<property name="text">
<string>Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to the graph and TORO optimizes the graph.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_slam_update">
2015-11-22 18:08:32 -05:00
<property name="title">
2016-01-12 14:54:20 -05:00
<string>Map Update</string>
2015-11-22 18:08:32 -05:00
</property>
2016-01-12 14:54:20 -05:00
<layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1">
<item row="1" column="1">
<widget class="QLabel" name="label_152">
2015-02-20 15:32:39 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-07-17 13:32:18 -04:00
</property>
2015-02-20 15:32:39 -05:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="7" column="1">
<widget class="QLabel" name="label_space2">
2015-05-03 18:16:55 -04:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
2015-05-04 16:00:21 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
2015-05-03 18:16:55 -04:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-05-03 18:16:55 -04:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_153">
<property name="text">
<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
<property name="suffix">
<string> m</string>
</property>
2015-05-04 16:00:21 -04:00
<property name="decimals">
2015-11-22 18:08:32 -05:00
<number>1</number>
</property>
2015-05-04 16:00:21 -04:00
<property name="maximum">
2016-01-12 14:54:20 -05:00
<double>99.000000000000000</double>
2015-05-04 16:00:21 -04:00
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
2016-01-12 14:54:20 -05:00
<double>1.000000000000000</double>
2014-06-25 23:00:35 +00:00
</property>
</widget>
2014-01-22 19:49:28 +00:00
</item>
2016-01-12 14:54:20 -05:00
<item row="2" column="1">
<widget class="QLabel" name="label_163">
2015-01-30 15:30:57 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. </string>
2014-01-22 19:49:28 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-01-22 19:49:28 +00:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="3" column="0">
<widget class="QCheckBox" name="odomScanHistory">
2014-06-25 23:00:35 +00:00
<property name="text">
<string/>
</property>
2015-03-12 17:00:56 -04:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="3" column="1">
<widget class="QLabel" name="label_scanMatching">
2014-12-14 16:42:10 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using ICP (laser scans required!).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
2014-12-14 16:42:10 -05:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-12-14 16:42:10 -05:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="5" column="1">
<widget class="QLabel" name="label_scanMatching_3">
2015-06-11 16:57:16 -04:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
2015-06-11 16:57:16 -04:00
</property>
2015-11-22 18:08:32 -05:00
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-06-11 16:57:16 -04:00
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="localDetection_radius">
<property name="suffix">
<string> m</string>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_scanMatching_5">
2015-06-11 16:57:16 -04:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
2015-06-11 16:57:16 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-11 16:57:16 -04:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="4" column="1">
<widget class="QLabel" name="label_scanMatching_9">
2015-09-02 17:51:43 -04:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Re-extract visual features when computing loop closure transformations.</string>
2015-09-02 17:51:43 -04:00
</property>
2016-01-12 14:54:20 -05:00
<property name="wordWrap">
2015-11-22 18:08:32 -05:00
<bool>true</bool>
</property>
2016-01-12 14:54:20 -05:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-09-02 17:51:43 -04:00
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="4" column="0">
<widget class="QCheckBox" name="loopClosure_reextract">
2015-09-02 17:51:43 -04:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string/>
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_11">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_28">
<layout class="QVBoxLayout" name="verticalLayout_95">
<item>
<widget class="QGroupBox" name="groupBox_proximityDetection2">
<property name="title">
<string>Proximity Detection</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_96">
<item>
<widget class="QGroupBox" name="groupBox_localDetection_time">
<property name="title">
<string>Proximity Detection in Time</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_21">
<item>
<widget class="QLabel" name="label_54">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Activate proximity detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. This generates more constraints in the map's graph, so more time is required to optimize the graph.</string>
2015-09-02 17:51:43 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_localDetection_space">
<property name="title">
<string>Proximity Detection in Space</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_48">
<item>
<widget class="QLabel" name="label_space1_2">
2015-09-03 12:37:14 -04:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Activate proximity detection over locations (in Working Memory) near in space. The locations are compared to those inside the local radius of the current estimated position of the robot (at a maximum distance of the path filtering radius below). If the laser scans are used, local locations are merged together and the current laser scan is compared to them. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations.</string>
2015-09-03 12:37:14 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item>
<layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
2016-05-20 11:44:50 -04:00
<item row="3" column="1">
<widget class="QLabel" name="label_scanMatching_4">
<property name="text">
<string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
2016-05-20 11:44:50 -04:00
<item row="2" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_space3_3">
<property name="text">
<string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-05-20 11:44:50 -04:00
<item row="3" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="localDetection_maxDiffID">
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_space3_2">
<property name="text">
<string>Maximum graph depth between the current/last loop closure location and the proximity hypotheses. Set 0 to ignore.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-05-20 11:44:50 -04:00
<item row="5" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_scanMatching_6">
<property name="text">
<string>Save scan matching IDs in link's user data.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-05-20 11:44:50 -04:00
<item row="5" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QCheckBox" name="checkBox_localSpaceScanMatchingIDsSaved">
<property name="text">
<string/>
</property>
</widget>
</item>
2016-03-02 18:11:19 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_scanMatching_8">
<property name="text">
<string>Maximum angle for visual proximity detection.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="localDetection_angle">
<property name="suffix">
<string> degrees</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>360.000000000000000</double>
</property>
<property name="singleStep">
<double>10.000000000000000</double>
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
</layout>
2015-09-03 12:37:14 -04:00
</item>
2014-01-22 19:49:28 +00:00
</layout>
</widget>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</widget>
</item>
<item>
2016-01-12 14:54:20 -05:00
<spacer name="verticalSpacer_49">
2015-11-22 18:08:32 -05:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
2016-01-12 14:54:20 -05:00
<width>20</width>
<height>1396</height>
2015-11-22 18:08:32 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2016-01-12 14:54:20 -05:00
<widget class="QWidget" name="page_19">
<layout class="QVBoxLayout" name="verticalLayout_94">
2015-11-22 18:08:32 -05:00
<item>
2016-01-12 14:54:20 -05:00
<widget class="QGroupBox" name="groupBox_graphOptimization2">
2015-11-22 18:08:32 -05:00
<property name="title">
2016-01-12 14:54:20 -05:00
<string>Graph Optimization</string>
2015-11-22 18:08:32 -05:00
</property>
2016-01-12 14:54:20 -05:00
<layout class="QGridLayout" name="gridLayout_49" columnstretch="0,1">
2015-12-11 17:44:15 -05:00
<item row="0" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QComboBox" name="graphOptimization_type">
<item>
<property name="text">
<string>TORO</string>
</property>
</item>
<item>
<property name="text">
<string>g2o</string>
</property>
</item>
<item>
<property name="text">
<string>GTSAM</string>
</property>
</item>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="2" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QSpinBox" name="graphOptimization_iterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="4" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QCheckBox" name="graphOptimization_covarianceIgnored">
2015-11-22 18:08:32 -05:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string/>
2015-11-22 18:08:32 -05:00
</property>
2016-01-12 14:54:20 -05:00
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="9" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
<property name="text">
<string/>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="9" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_151">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Optimize graph from the newest node.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
2015-11-22 18:08:32 -05:00
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="8" column="1">
2016-01-12 14:54:20 -05:00
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
2015-11-22 18:08:32 -05:00
</property>
2015-12-11 17:44:15 -05:00
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="5" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QCheckBox" name="graphOptimization_slam2d">
<property name="text">
<string/>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="5" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_164">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>2d SLAM: use fast 3DoF (x, y, theta) optimization instead of 6DoF (x, y, z, roll, pitch, yaw) optimization.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="0" column="1">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Graph optimization algorithm.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-12-11 17:44:15 -05:00
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="11" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_183">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="10" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_211">
2015-12-11 17:44:15 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
2015-11-22 18:08:32 -05:00
</property>
2015-12-11 17:44:15 -05:00
<property name="wordWrap">
2015-11-22 18:08:32 -05:00
<bool>true</bool>
</property>
2015-12-11 17:44:15 -05:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="2" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_31">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Iterations.</string>
2015-12-11 17:44:15 -05:00
</property>
2016-01-12 14:54:20 -05:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="3" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_64">
<property name="text">
<string>Stop optimizing when the error improvement is less than this value.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="3" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QDoubleSpinBox" name="graphOptimization_stopEpsilon">
<property name="decimals">
<number>5</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.001000000000000</double>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="4" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_141">
2015-12-11 17:44:15 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances).</string>
2015-11-22 18:08:32 -05:00
</property>
2015-12-11 17:44:15 -05:00
<property name="wordWrap">
<bool>true</bool>
2015-11-22 18:08:32 -05:00
</property>
2015-12-11 17:44:15 -05:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="6" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QCheckBox" name="graphOptimization_robust">
<property name="text">
<string/>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="6" column="1">
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_258">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Robust graph optimization using Vertigo (only for g2o and GTSAM optimization strategies). This approach can filter wrong loop closure detections.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
2015-11-22 18:08:32 -05:00
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="7" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QDoubleSpinBox" name="graphOptimization_maxError">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
2015-11-22 18:08:32 -05:00
</widget>
</item>
2016-02-15 19:35:24 -05:00
<item row="7" column="1">
<widget class="QLabel" name="label_259">
<property name="text">
<string>Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QGroupBox" name="groupBox_g2o">
<property name="title">
<string>g2o</string>
</property>
<layout class="QGridLayout" name="gridLayout_70" columnstretch="0,1">
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_g2o_optimizer">
<item>
<property name="text">
<string>Levenberg</string>
</property>
</item>
<item>
<property name="text">
<string>Gauss Newton</string>
</property>
</item>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_g2o_solver">
<item>
<property name="text">
<string>CSparse</string>
</property>
</item>
<item>
<property name="text">
<string>PCG</string>
</property>
</item>
<item>
<property name="text">
<string>Cholmod</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_107">
<property name="text">
<string>Solver.</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_138">
<property name="text">
<string>Optimization algorithm.</string>
</property>
</widget>
</item>
2016-04-06 15:24:36 -04:00
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_variance">
<property name="enabled">
<bool>false</bool>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_148">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Pixel variance for SBA.</string>
</property>
</widget>
</item>
2016-02-15 19:35:24 -05:00
</layout>
</widget>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</widget>
</item>
<item>
2016-01-12 14:54:20 -05:00
<spacer name="verticalSpacer_48">
2015-11-22 18:08:32 -05:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
2016-01-12 14:54:20 -05:00
<width>20</width>
<height>1338</height>
2015-11-22 18:08:32 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2016-01-12 14:54:20 -05:00
<widget class="QWidget" name="page_30">
<layout class="QVBoxLayout" name="verticalLayout_97">
2015-11-22 18:08:32 -05:00
<item>
2016-01-12 14:54:20 -05:00
<widget class="QGroupBox" name="groupBox_pathPlanning2">
2015-11-22 18:08:32 -05:00
<property name="title">
2016-01-12 14:54:20 -05:00
<string>Path Planning</string>
2015-11-22 18:08:32 -05:00
</property>
2016-01-12 14:54:20 -05:00
<layout class="QVBoxLayout" name="verticalLayout_61">
2015-12-11 17:44:15 -05:00
<item>
2016-01-12 14:54:20 -05:00
<widget class="QLabel" name="label_space2_3">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string> If the goal is too far (>local radius) from the graph, the plan is aborted. The next goal in the graph can't be farther than the local radius around the current position. Anticipated nodes on the path are retrieved in the local radius up to "Maximum local locations retrieved". A virtual link is added between the current location and the nearest one on the path up to local radius.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
2015-11-22 18:08:32 -05:00
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
2016-01-12 14:54:20 -05:00
<layout class="QGridLayout" name="gridLayout_51" columnstretch="0,1">
2015-11-22 18:08:32 -05:00
<item row="0" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QDoubleSpinBox" name="graphPlan_goalReachedRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="value">
<double>1.000000000000000</double>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="0" column="1">
<widget class="QLabel" name="label_space2_2">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Goal reached radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="2" column="1">
<widget class="QLabel" name="label_space3_5">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#".</string>
2015-11-22 18:08:32 -05:00
</property>
2016-01-12 14:54:20 -05:00
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="2" column="0">
<widget class="QCheckBox" name="graphPlan_goalsSavedInUserData">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string/>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_space2_4">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Mark the current goal node on the path as unreachable if it a new goal is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="1" column="0">
2016-01-12 14:54:20 -05:00
<widget class="QSpinBox" name="graphPlan_stuckIterations">
2015-11-22 18:08:32 -05:00
<property name="maximum">
2016-01-12 14:54:20 -05:00
<number>9999</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="graphPlan_linearVelocity">
<property name="suffix">
<string> m/s</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="singleStep">
2016-01-12 14:54:20 -05:00
<double>0.100000000000000</double>
2015-11-22 18:08:32 -05:00
</property>
<property name="value">
2016-01-12 14:54:20 -05:00
<double>0.000000000000000</double>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="graphPlan_angularVelocity">
<property name="suffix">
<string> rad/s</string>
2015-11-25 19:56:14 -05:00
</property>
2016-01-12 14:54:20 -05:00
<property name="maximum">
<double>10.000000000000000</double>
2015-11-25 19:56:14 -05:00
</property>
2016-01-12 14:54:20 -05:00
<property name="value">
<double>0.000000000000000</double>
2015-11-25 19:56:14 -05:00
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="3" column="1">
<widget class="QLabel" name="label_space3_6">
2015-11-25 19:56:14 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Linear velocity used to compute path weights based on time instead of distance (0=disabled).</string>
2015-11-25 19:56:14 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-12 14:54:20 -05:00
<item row="4" column="1">
<widget class="QLabel" name="label_space3_7">
2015-11-25 19:56:14 -05:00
<property name="text">
2016-01-12 14:54:20 -05:00
<string>Angular velocity used to compute path weights based on time instead of distance. Paths with poses in the same direction of the robot will have lower costs (0=disabled).</string>
2015-11-25 19:56:14 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</item>
</layout>
</widget>
</item>
<item>
2016-01-12 14:54:20 -05:00
<spacer name="verticalSpacer_50">
2015-11-22 18:08:32 -05:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
2015-12-22 19:32:52 -05:00
<width>20</width>
2016-01-12 14:54:20 -05:00
<height>1529</height>
2015-11-22 18:08:32 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-12-11 17:44:15 -05:00
<widget class="QWidget" name="page_12">
2015-12-21 17:27:05 -05:00
<layout class="QVBoxLayout" name="verticalLayout_32" stretch="0,1">
2015-11-22 18:08:32 -05:00
<item>
2015-12-11 17:44:15 -05:00
<widget class="QGroupBox" name="groupBox_odometry1">
2015-11-22 18:08:32 -05:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>Odometry</string>
2015-11-22 18:08:32 -05:00
</property>
2015-12-11 17:44:15 -05:00
<layout class="QVBoxLayout" name="verticalLayout_34">
<item>
<widget class="QLabel" name="label_114">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-06 17:53:40 -05:00
<string>Odometry is computed as fast as possible up to "Source->Input rate" parameter. Odometry is not computed if already provided by the source.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item>
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
2016-04-08 16:15:08 -04:00
<item row="8" column="0">
2016-03-06 15:11:09 -05:00
<widget class="QDoubleSpinBox" name="odom_flow_keyframeThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="6" column="0">
<widget class="QCheckBox" name="odom_flow_guessMotion">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="4" column="1">
<widget class="QLabel" name="label_233">
<property name="text">
2015-12-14 16:50:17 -05:00
<string>Pose estimation filtering strategy.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="odom_fillInfoData">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_103">
<property name="text">
2015-12-22 19:32:52 -05:00
<string>Odometry strategy.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="odom_holonomic">
<property name="text">
<string/>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="10" column="0">
2015-12-11 17:44:15 -05:00
<widget class="QSpinBox" name="odom_dataBufferSize">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_238">
<property name="text">
<string>If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="odom_strategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
2016-02-22 16:13:14 -05:00
<string>Frame to Map</string>
2015-12-11 17:44:15 -05:00
</property>
</item>
<item>
<property name="text">
2015-12-21 17:27:05 -05:00
<string>Frame to Frame</string>
2015-12-11 17:44:15 -05:00
</property>
</item>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="11" column="0">
2015-12-11 17:44:15 -05:00
<widget class="QPushButton" name="pushButton_testOdometry">
<property name="text">
<string>Test selected odometry</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_221">
<property name="text">
<string>Fill info with data (inliers/outliers features to be shown in Odometry view).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="10" column="1">
2015-12-11 17:44:15 -05:00
<widget class="QLabel" name="label_232">
<property name="text">
<string>Data buffer size (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset). When reset, the odometry starts from the last pose computed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="odom_countdown">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
2015-12-14 16:50:17 -05:00
<item row="4" column="0">
<widget class="QComboBox" name="odom_filteringStrategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>No filtering</string>
</property>
</item>
<item>
<property name="text">
<string>Kalman filtering</string>
</property>
</item>
<item>
<property name="text">
<string>Particle filtering</string>
</property>
</item>
</widget>
</item>
2016-02-22 16:13:14 -05:00
<item row="6" column="1">
<widget class="QLabel" name="label_198">
<property name="text">
<string>Guess based on previous motion.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="8" column="1">
2016-03-06 15:11:09 -05:00
<widget class="QLabel" name="label_196">
2016-02-22 16:13:14 -05:00
<property name="text">
2016-03-06 15:11:09 -05:00
<string>[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2016-02-22 16:13:14 -05:00
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="9" column="1">
2016-03-06 15:11:09 -05:00
<widget class="QLabel" name="label_246">
2016-03-01 20:47:46 -05:00
<property name="text">
2016-03-06 15:11:09 -05:00
<string>[Geometry] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
2016-03-01 20:47:46 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="9" column="0">
2016-03-06 15:11:09 -05:00
<widget class="QDoubleSpinBox" name="odom_flow_scanKeyframeThr">
2016-03-01 20:47:46 -05:00
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
2016-04-08 16:15:08 -04:00
<item row="7" column="1">
<widget class="QLabel" name="label_248">
<property name="text">
<string>Decimation of images before features extraction.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="odom_imageDecimation">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
2016-06-12 21:45:22 -04:00
<item row="1" column="1">
<widget class="QLabel" name="label_314">
<property name="text">
<string>Align odometry with ground on initialization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="odom_alignWithGround">
<property name="text">
<string/>
</property>
</widget>
</item>
2015-12-11 17:44:15 -05:00
</layout>
2015-11-22 18:08:32 -05:00
</item>
2015-12-21 17:27:05 -05:00
<item>
2015-12-22 19:32:52 -05:00
<widget class="QStackedWidget" name="stackedWidget_odometryType">
2015-12-21 17:27:05 -05:00
<property name="currentIndex">
2015-12-22 19:32:52 -05:00
<number>0</number>
2015-12-21 17:27:05 -05:00
</property>
2015-12-22 19:32:52 -05:00
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
2015-12-21 17:27:05 -05:00
<item>
2015-12-22 19:32:52 -05:00
<widget class="QGroupBox" name="groupBox_odometryBOW2">
2015-12-21 17:27:05 -05:00
<property name="title">
2016-02-22 16:13:14 -05:00
<string>Frame to Map</string>
2015-12-21 17:27:05 -05:00
</property>
2015-12-22 19:32:52 -05:00
<layout class="QVBoxLayout" name="verticalLayout_54">
2015-12-21 17:27:05 -05:00
<item>
2015-12-22 19:32:52 -05:00
<widget class="QLabel" name="label_226">
2015-12-21 17:27:05 -05:00
<property name="text">
2016-02-22 16:13:14 -05:00
<string>The approach maintains a local map of features to match to. It adds incrementally new points to local map up to maximum map size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters. Note that only visual registration parameters are used in this approach. If you want to use a different registration pipeline than Visual (e.g. with ICP), use "Frame to Frame" approach instead.</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
2015-12-22 19:32:52 -05:00
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,0,1">
2016-03-06 15:11:09 -05:00
<item row="2" column="2">
<widget class="QLabel" name="label_195">
2015-12-22 19:32:52 -05:00
<property name="text">
2016-06-25 13:18:09 -04:00
<string>[Geometry] Maximum local scan map size (points).</string>
2015-12-21 17:27:05 -05:00
</property>
2015-12-22 19:32:52 -05:00
<property name="wordWrap">
<bool>true</bool>
2015-12-21 17:27:05 -05:00
</property>
2015-12-22 19:32:52 -05:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-12-21 17:27:05 -05:00
</property>
</widget>
</item>
2016-03-06 15:11:09 -05:00
<item row="4" column="0">
2015-12-22 19:32:52 -05:00
<widget class="QLineEdit" name="odom_fixedLocalMapPath"/>
</item>
2016-03-06 15:11:09 -05:00
<item row="4" column="2">
<widget class="QLabel" name="label_239">
<property name="text">
<string>Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP pose estimation is activated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_190">
<property name="text">
<string>[Visual] Maximum map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum features. This will decrease odometry drifting when the camera is not moving.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-21 17:27:05 -05:00
<item row="0" column="0">
2015-12-22 19:32:52 -05:00
<widget class="QSpinBox" name="odom_localHistory">
2015-12-21 17:27:05 -05:00
<property name="minimum">
2015-12-22 19:32:52 -05:00
<number>0</number>
2015-12-21 17:27:05 -05:00
</property>
<property name="maximum">
2016-03-06 15:11:09 -05:00
<number>999999999</number>
2015-12-21 17:27:05 -05:00
</property>
<property name="singleStep">
2015-12-22 19:32:52 -05:00
<number>1</number>
2015-12-21 17:27:05 -05:00
</property>
<property name="value">
2015-12-22 19:32:52 -05:00
<number>0</number>
2015-12-21 17:27:05 -05:00
</property>
</widget>
</item>
2016-03-06 15:11:09 -05:00
<item row="4" column="1">
2015-12-22 19:32:52 -05:00
<widget class="QToolButton" name="toolButton_odomBowFixedLocalMap">
2015-12-21 17:27:05 -05:00
<property name="text">
2015-12-22 19:32:52 -05:00
<string>...</string>
</property>
</widget>
</item>
2016-03-01 20:47:46 -05:00
<item row="1" column="2">
<widget class="QLabel" name="label_194">
<property name="text">
2016-03-06 15:11:09 -05:00
<string>[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.</string>
2016-03-01 20:47:46 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_odom_f2m_maxNewFeatures">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
2016-03-06 15:11:09 -05:00
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_215">
<property name="text">
<string>[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the laser scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="value">
<double>0.025000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_odom_f2m_scanMaxSize">
<property name="maximum">
<number>999999999</number>
</property>
</widget>
2016-03-01 20:47:46 -05:00
</item>
2015-12-21 17:27:05 -05:00
</layout>
</item>
<item>
2015-12-22 19:32:52 -05:00
<spacer name="verticalSpacer_46">
2015-12-21 17:27:05 -05:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
2015-12-22 19:32:52 -05:00
<widget class="QWidget" name="page_58">
<layout class="QVBoxLayout" name="verticalLayout_55">
2015-12-21 17:27:05 -05:00
<item>
2015-12-22 19:32:52 -05:00
<widget class="QGroupBox" name="groupBox_odometryFlow2">
2015-12-21 17:27:05 -05:00
<property name="title">
2015-12-22 19:32:52 -05:00
<string>Frame to Frame</string>
2015-12-21 17:27:05 -05:00
</property>
2015-12-22 19:32:52 -05:00
<layout class="QVBoxLayout" name="verticalLayout_53">
2015-12-21 17:27:05 -05:00
<item>
2015-12-22 19:32:52 -05:00
<widget class="QLabel" name="label_199">
2015-12-21 17:27:05 -05:00
<property name="text">
2016-01-06 17:53:40 -05:00
<string>Motion is computed with a frame to key-frame approach. See Motion Estimation panel for registration parameters.</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-22 19:32:52 -05:00
<item>
<spacer name="verticalSpacer_43">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2016-03-01 20:47:46 -05:00
<height>40</height>
2015-12-22 19:32:52 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_26">
<layout class="QVBoxLayout" name="verticalLayout_88">
<item>
<widget class="QGroupBox" name="groupBox_odometryMono2">
<property name="title">
<string>Mono</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_168">
<item>
<widget class="QLabel" name="label_672">
<property name="text">
<string>Mono is for single camera motion estimation (MonoSLAM). On initialization, the camera must be translated on the side until a first transform can be computed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_661">
<property name="text">
<string>Parameters from BOW and OpticalFlow are also used here. PnP parameters on Odometry panel are used too.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_166" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minFlow">
2015-12-21 17:27:05 -05:00
<property name="suffix">
2015-12-22 19:32:52 -05:00
<string> pixels</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="decimals">
2015-12-22 19:32:52 -05:00
<number>0</number>
2015-12-21 17:27:05 -05:00
</property>
<property name="maximum">
2015-12-22 19:32:52 -05:00
<double>1000.000000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
<property name="singleStep">
2015-12-22 19:32:52 -05:00
<double>10.000000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
<property name="value">
2015-12-22 19:32:52 -05:00
<double>100.000000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
</widget>
</item>
2015-12-22 19:32:52 -05:00
<item row="0" column="1">
<widget class="QLabel" name="label_659">
2015-12-21 17:27:05 -05:00
<property name="text">
2015-12-22 19:32:52 -05:00
<string>Minimum optical flow required for the initialization step.</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-22 19:32:52 -05:00
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minTranslation">
<property name="suffix">
<string> m</string>
2015-12-21 17:27:05 -05:00
</property>
2015-12-22 19:32:52 -05:00
<property name="minimum">
<double>0.000000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
2015-12-22 19:32:52 -05:00
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
</widget>
</item>
<item row="2" column="1">
2015-12-22 19:32:52 -05:00
<widget class="QLabel" name="label_660">
2015-12-21 17:27:05 -05:00
<property name="text">
2015-12-22 19:32:52 -05:00
<string>Minimum translation to add new points to local map. On initialization, translation x 5 is used as the required minimum transformation.</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-22 19:32:52 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_662">
2015-12-21 17:27:05 -05:00
<property name="text">
2015-12-22 19:32:52 -05:00
<string>Minimum translation required for the initialization step.</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-22 19:32:52 -05:00
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minInitTranslation">
2015-12-21 17:27:05 -05:00
<property name="suffix">
2015-12-22 19:32:52 -05:00
<string> m</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="singleStep">
2015-12-22 19:32:52 -05:00
<double>0.010000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
<property name="value">
2015-12-22 19:32:52 -05:00
<double>0.100000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
</widget>
</item>
2015-12-22 19:32:52 -05:00
<item row="3" column="1">
<widget class="QLabel" name="label_663">
2015-12-21 17:27:05 -05:00
<property name="text">
2015-12-22 19:32:52 -05:00
<string>Maximum variance to add new points to local map.</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-22 19:32:52 -05:00
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxVariance">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>3</number>
</property>
2015-12-21 17:27:05 -05:00
<property name="minimum">
2015-12-22 19:32:52 -05:00
<double>0.000000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
2015-12-22 19:32:52 -05:00
<property name="singleStep">
<double>0.001000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
<property name="value">
2015-12-22 19:32:52 -05:00
<double>0.010000000000000</double>
2015-12-21 17:27:05 -05:00
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item>
2015-12-22 19:32:52 -05:00
<widget class="QStackedWidget" name="stackedWidget_odometryFiltering">
<property name="currentIndex">
<number>1</number>
2015-12-11 17:44:15 -05:00
</property>
2015-12-22 19:32:52 -05:00
<widget class="QWidget" name="page_31">
<layout class="QVBoxLayout" name="verticalLayout_84"/>
</widget>
<widget class="QWidget" name="page_57">
<layout class="QVBoxLayout" name="verticalLayout_49">
<item>
<widget class="QGroupBox" name="groupBox_odometryKalmanFilter2">
<property name="title">
<string>Kalman Filter</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_171">
<item>
<widget class="QLabel" name="label_673">
<property name="text">
<string>Parameters for the Kalman filter when used to smooth the odometry trajectory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_168" columnstretch="0,1">
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kalmanMeasurementNoise">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>5</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kalmanProcessNoise">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>5</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_674">
<property name="text">
<string>Process noise.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_675">
<property name="text">
<string>Measurement noise.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_31">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_56">
<layout class="QVBoxLayout" name="verticalLayout_87">
<item>
<widget class="QGroupBox" name="groupBox_odometryParticleFilter2">
<property name="title">
<string>Particle Filter</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_170">
<item>
<widget class="QLabel" name="label_665">
<property name="text">
<string>Parameters for the particle filter when used to smooth the odometry trajectory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_167" columnstretch="0,1">
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleLambdaT">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleNoiseR">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.005000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleNoiseT">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_666">
<property name="text">
<string>Noise of translation components (x,y,z).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_667">
<property name="text">
<string>Noise of rotation components (roll, pitch, yaw).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_668">
<property name="text">
<string>Lambda of translation components (x,y,z).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_669">
<property name="text">
<string>Lambda of rotation components (roll, pitch, yaw).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleLambdaR">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_670">
<property name="text">
<string>Particle size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_particleSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>400</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
2015-12-11 17:44:15 -05:00
</widget>
</item>
<item>
2015-12-22 19:32:52 -05:00
<widget class="QLabel" name="label_162">
2015-12-11 17:44:15 -05:00
<property name="text">
2015-12-22 19:32:52 -05:00
<string/>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
2015-12-22 19:32:52 -05:00
<spacer name="verticalSpacer_14">
2015-12-11 17:44:15 -05:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2015-12-22 19:32:52 -05:00
<height>0</height>
2015-12-11 17:44:15 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-12-21 17:27:05 -05:00
<widget class="QWidget" name="page_46">
<layout class="QVBoxLayout" name="verticalLayout_81">
2015-12-11 17:44:15 -05:00
<item>
2015-12-21 17:27:05 -05:00
<widget class="QGroupBox" name="groupBox_motionEst1">
2015-12-11 17:44:15 -05:00
<property name="title">
2015-12-21 17:27:05 -05:00
<string>Motion Estimation</string>
2015-12-11 17:44:15 -05:00
</property>
2016-01-06 17:26:55 -05:00
<layout class="QGridLayout" name="gridLayout_53" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_registrationStrategy">
<item>
<property name="text">
<string>Visual</string>
</property>
</item>
<item>
<property name="text">
<string>Geometry (ICP)</string>
</property>
</item>
<item>
<property name="text">
<string>Visual + Geometry (ICP)</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
2015-12-21 17:27:05 -05:00
<widget class="QLabel" name="label_11">
2015-11-22 18:08:32 -05:00
<property name="text">
2016-01-06 17:26:55 -05:00
<string>For the parameters for each registration approach, see the sub panels. Approaches with '+' means that both registrations are done in that order.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="loopClosure_bowForce2D">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_184">
<property name="text">
<string>Force 2D transform (3DoF: x,y and yaw).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-11-22 18:08:32 -05:00
</property>
</widget>
</item>
2015-12-21 17:27:05 -05:00
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_41">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1221</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_21">
<layout class="QVBoxLayout" name="verticalLayout_50">
<item>
<widget class="QGroupBox" name="groupBox_visualTransform2">
<property name="title">
<string>Visual Registration</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_41" stretch="0,0,0,1">
2015-11-22 18:08:32 -05:00
<item>
2016-01-06 17:26:55 -05:00
<layout class="QGridLayout" name="gridLayout_23" columnstretch="0,1">
2015-12-11 17:44:15 -05:00
<item row="1" column="1">
2015-12-21 17:27:05 -05:00
<widget class="QLabel" name="label_146">
2015-12-11 17:44:15 -05:00
<property name="text">
2015-12-21 17:27:05 -05:00
<string>Motion estimation approach using 3D and/or 2D visual words correspondences.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="5" column="1">
2015-12-21 17:27:05 -05:00
<widget class="QLabel" name="label_262">
2015-12-11 17:44:15 -05:00
<property name="text">
2015-12-21 17:27:05 -05:00
<string>Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
2015-12-21 17:27:05 -05:00
<widget class="QLabel" name="label_2">
2015-12-11 17:44:15 -05:00
<property name="text">
2015-12-21 17:27:05 -05:00
<string>Minimum correspondences to accept the estimated transformation.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
2015-12-21 17:27:05 -05:00
<widget class="QSpinBox" name="loopClosure_bowIterations">
2015-12-11 17:44:15 -05:00
<property name="minimum">
2015-12-21 17:27:05 -05:00
<number>1</number>
2015-12-11 17:44:15 -05:00
</property>
<property name="maximum">
2015-12-21 17:27:05 -05:00
<number>10000</number>
2015-12-11 17:44:15 -05:00
</property>
<property name="singleStep">
2015-12-21 17:27:05 -05:00
<number>1</number>
2015-12-11 17:44:15 -05:00
</property>
<property name="value">
2015-12-21 17:27:05 -05:00
<number>100</number>
2015-12-11 17:44:15 -05:00
</property>
</widget>
</item>
2015-12-21 17:27:05 -05:00
<item row="4" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Maximum RANSAC iterations.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-21 17:27:05 -05:00
<item row="1" column="0">
<widget class="QComboBox" name="loopClosure_estimationType">
2016-02-22 16:13:14 -05:00
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
</property>
2015-12-21 17:27:05 -05:00
<item>
<property name="text">
<string>3D to 3D</string>
</property>
</item>
<item>
<property name="text">
<string>3D to 2D (PnP)</string>
</property>
</item>
<item>
<property name="text">
2016-02-22 16:13:14 -05:00
<string>2D to 2D</string>
2015-12-21 17:27:05 -05:00
</property>
</item>
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="0" column="0">
2015-12-21 17:27:05 -05:00
<widget class="QComboBox" name="loopClosure_correspondencesType">
2016-02-22 16:13:14 -05:00
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
</property>
2015-12-21 17:27:05 -05:00
<item>
<property name="text">
<string>Features Matching</string>
</property>
</item>
<item>
<property name="text">
<string>Optical Flow</string>
</property>
</item>
2015-12-14 16:50:17 -05:00
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="6" column="1">
2015-12-21 17:27:05 -05:00
<widget class="QLabel" name="label_298">
2015-12-14 16:50:17 -05:00
<property name="text">
2015-12-22 19:32:52 -05:00
<string>Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).</string>
2015-12-14 16:50:17 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="6" column="0">
2015-12-21 17:27:05 -05:00
<widget class="QCheckBox" name="loopClosure_forwardEst">
2015-12-14 16:50:17 -05:00
<property name="text">
2015-12-21 17:27:05 -05:00
<string/>
2015-12-14 16:50:17 -05:00
</property>
</widget>
</item>
2016-02-22 16:13:14 -05:00
<item row="5" column="0">
<widget class="QCheckBox" name="loopClosure_bowVarianceFromInliersCount">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_149">
<property name="text">
<string>Correspondences computation approach.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="loopClosure_bowMinInliers">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
2015-12-14 16:50:17 -05:00
</layout>
</item>
2015-12-11 17:44:15 -05:00
<item>
2015-12-21 17:27:05 -05:00
<widget class="QStackedWidget" name="stackedWidget_loopClosureCorrespondences">
<property name="currentIndex">
2016-02-22 16:13:14 -05:00
<number>0</number>
2015-12-11 17:44:15 -05:00
</property>
2015-12-21 17:27:05 -05:00
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
2016-07-15 17:46:13 -04:00
<property name="margin">
2015-12-22 19:32:52 -05:00
<number>0</number>
</property>
2015-11-22 18:08:32 -05:00
<item>
2015-12-21 17:27:05 -05:00
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
<string>Correspondences Computation: Features Matching</string>
</property>
<layout class="QGridLayout" name="gridLayout_30" columnstretch="0,1">
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="reextract_nndrRatio">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="reextract_nn">
<property name="currentIndex">
<number>3</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>FLANN Linear</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN KdTree</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN LSH</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force GPU</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_179">
<property name="text">
<string>Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_181">
<property name="text">
<string>NNDR ratio
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
Lower the ratio -> higher the precision. 0 means disabled, matching the nearest.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-22 16:13:14 -05:00
<item row="3" column="0">
2015-12-21 17:27:05 -05:00
<spacer name="verticalSpacer_44">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
2016-02-22 16:13:14 -05:00
<item row="2" column="1">
<widget class="QLabel" name="label_303">
<property name="text">
2016-02-24 12:45:00 -05:00
<string>Matching window size around projected points when a guess transform is provided to find correspondences. 0 means that global matching will be done.</string>
2016-02-22 16:13:14 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_visCorGuessWinSize">
<property name="suffix">
<string> pixels</string>
</property>
<property name="minimum">
2016-02-24 12:45:00 -05:00
<number>0</number>
2016-02-22 16:13:14 -05:00
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
2015-12-21 17:27:05 -05:00
</layout>
</widget>
2015-11-22 18:08:32 -05:00
</item>
2015-12-21 17:27:05 -05:00
</layout>
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
2016-07-15 17:46:13 -04:00
<property name="margin">
2015-12-22 19:32:52 -05:00
<number>0</number>
</property>
2015-11-22 18:08:32 -05:00
<item>
2015-12-21 17:27:05 -05:00
<widget class="QGroupBox" name="groupBox_7">
<property name="title">
<string>Correspondences Computation: Optical Flow</string>
</property>
<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="odom_flow_winSize_2">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_201">
<property name="text">
<string>Window size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="odom_flow_maxLevel_2">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>3</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_295">
<property name="text">
<string>Iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_296">
<property name="text">
<string>Epsilon.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="odom_flow_iterations_2">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_297">
<property name="text">
<string>Max level.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="odom_flow_eps_2">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<spacer name="verticalSpacer_45">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-11-22 18:08:32 -05:00
</item>
2015-12-21 17:27:05 -05:00
</layout>
</widget>
</widget>
2015-11-22 18:08:32 -05:00
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_loopClosureEstimation">
<property name="currentIndex">
2016-02-15 19:35:24 -05:00
<number>2</number>
2015-11-22 18:08:32 -05:00
</property>
<widget class="QWidget" name="page_38">
<layout class="QVBoxLayout" name="verticalLayout_68">
<property name="spacing">
<number>0</number>
</property>
2016-07-15 17:46:13 -04:00
<property name="margin">
2015-11-22 18:08:32 -05:00
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
2015-12-21 17:27:05 -05:00
<string>Motion estimation: 3D to 3D</string>
2015-11-22 18:08:32 -05:00
</property>
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowInlierDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Maximum distance accepted between visual word correspondences.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="loopClosure_bowRefineIterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_39">
<layout class="QVBoxLayout" name="verticalLayout_69">
<property name="spacing">
<number>0</number>
</property>
2016-07-15 17:46:13 -04:00
<property name="margin">
2015-11-22 18:08:32 -05:00
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_13">
<property name="title">
2015-12-21 17:27:05 -05:00
<string>Motion Estimation: 3D to 2D (PnP)</string>
2015-11-22 18:08:32 -05:00
</property>
<layout class="QGridLayout" name="gridLayout_59" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_pnpReprojError">
<property name="suffix">
<string> pix</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>8.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_236">
<property name="text">
<string>Reprojection error.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="loopClosure_pnpFlags">
<item>
<property name="text">
<string>Iterative</string>
</property>
</item>
<item>
<property name="text">
<string>EPNP</string>
</property>
</item>
<item>
<property name="text">
<string>P3P</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_235">
<property name="text">
<string>Flags.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-21 17:27:05 -05:00
<item row="2" column="1">
<widget class="QLabel" name="label_loopClosure_pnpOpenCV2">
<property name="text">
2015-12-22 19:32:52 -05:00
<string>Refine iterations.</string>
2015-12-21 17:27:05 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-12-22 19:32:52 -05:00
<item row="2" column="0">
<widget class="QSpinBox" name="loopClosure_pnpRefineIterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_40">
<layout class="QVBoxLayout" name="verticalLayout_72">
<property name="spacing">
<number>0</number>
</property>
2016-07-15 17:46:13 -04:00
<property name="margin">
2015-11-22 18:08:32 -05:00
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_14">
<property name="title">
<string>2D to 2D (Epipolar Geometry)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_73">
<item>
<widget class="QLabel" name="label_671">
<property name="text">
2016-02-15 19:35:24 -05:00
<string>Experimental! PnP parameters are also used here.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_60" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowEpipolarGeometryVar">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_664">
<property name="text">
<string>Epipolar geometry maximum variance to accept the loop closure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
2016-02-15 19:35:24 -05:00
<item>
<spacer name="verticalSpacer_52">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_VisExtract">
<property name="title">
2015-12-21 17:27:05 -05:00
<string>Visual Feature</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_46" stretch="0,0,1,0">
<item>
<widget class="QLabel" name="label_182">
2014-10-16 00:14:23 +00:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string>The features are not extracted if the compared nodes have already features extracted.</string>
2014-10-16 00:14:23 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-10-16 00:14:23 +00:00
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item>
<layout class="QGridLayout" name="gridLayout_25" columnstretch="0,1">
2016-03-01 14:40:40 -05:00
<item row="3" column="1">
<widget class="QLabel" name="label_237">
<property name="text">
<string>Maximum feature depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_261">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLineEdit" name="loopClosure_roi"/>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="reextract_maxFeatures">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_180">
<property name="text">
<string>Max features extracted from the images (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_275">
<property name="text">
<string>Minimum feature depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item row="1" column="0">
<widget class="QComboBox" name="reextract_type">
<property name="currentIndex">
<number>0</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>SURF</string>
</property>
</item>
<item>
<property name="text">
<string>SIFT</string>
</property>
</item>
<item>
<property name="text">
<string>ORB</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>BRISK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+ORB</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowMaxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="value">
<double>5.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_178">
<property name="text">
<string>Feature detector </string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowMinDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="value">
<double>5.000000000000000</double>
</property>
</widget>
</item>
</layout>
2014-10-16 00:14:23 +00:00
</item>
2015-11-22 18:08:32 -05:00
<item>
<widget class="QGroupBox" name="groupBox_11">
<property name="title">
2015-12-11 17:44:15 -05:00
<string>Sub Pixel Refining</string>
2015-07-17 13:32:18 -04:00
</property>
2015-11-22 18:08:32 -05:00
<layout class="QVBoxLayout" name="verticalLayout_59">
<item>
<widget class="QLabel" name="label_35">
<property name="text">
<string>Refining corners to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_36" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="subpix_winSize">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_200">
<property name="text">
<string>Window size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="subpix_iterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_203">
<property name="text">
<string>Iterations. 0 disables sub pixel refining.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="subpix_eps">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.030000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_204">
<property name="text">
<string>Epsilon.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
2014-10-16 00:14:23 +00:00
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item>
<spacer name="verticalSpacer_37">
<property name="orientation">
<enum>Qt::Vertical</enum>
2014-10-16 00:14:23 +00:00
</property>
2015-11-22 18:08:32 -05:00
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
2014-10-16 00:14:23 +00:00
</property>
2015-11-22 18:08:32 -05:00
</spacer>
2014-10-16 00:14:23 +00:00
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
2015-11-22 18:08:32 -05:00
<spacer name="verticalSpacer_20">
2014-10-16 00:14:23 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2015-11-22 18:08:32 -05:00
<height>40</height>
2014-10-16 00:14:23 +00:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-11-22 18:08:32 -05:00
<widget class="QWidget" name="page_27">
<layout class="QVBoxLayout" name="verticalLayout_52">
2014-01-22 19:49:28 +00:00
<item>
2015-11-22 18:08:32 -05:00
<widget class="QGroupBox" name="groupBox_icp2">
2014-01-22 19:49:28 +00:00
<property name="title">
2015-11-22 18:08:32 -05:00
<string>ICP Registration</string>
2014-01-22 19:49:28 +00:00
</property>
2015-11-22 18:08:32 -05:00
<layout class="QVBoxLayout" name="verticalLayout_20">
2014-01-22 19:49:28 +00:00
<item>
2015-11-22 18:08:32 -05:00
<widget class="QLabel" name="label_7">
2014-01-22 19:49:28 +00:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string>Iterative closest point (ICP) parameters.</string>
2014-01-22 19:49:28 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-01-22 19:49:28 +00:00
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item>
2015-11-22 18:08:32 -05:00
<layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
2016-01-12 11:37:50 -05:00
<item row="8" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
2014-06-22 03:33:56 +00:00
<property name="text">
2015-06-27 01:43:29 -04:00
<string/>
2014-01-22 19:49:28 +00:00
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="2" column="1">
2015-11-22 18:08:32 -05:00
<widget class="QLabel" name="label_139">
<property name="text">
<string>Downsampling step of the cloud. Set to 1 to disable. This is done before uniform sampling.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="4" column="1">
2015-11-22 18:08:32 -05:00
<widget class="QLabel" name="label_122">
2014-10-13 19:10:22 +00:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string>Max distance for point correspondences.</string>
2014-06-06 18:06:49 +00:00
</property>
2014-10-13 19:10:22 +00:00
<property name="wordWrap">
<bool>true</bool>
2014-06-06 18:06:49 +00:00
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-10-13 19:10:22 +00:00
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item row="0" column="1">
<widget class="QLabel" name="label_51">
2014-11-19 23:38:15 +00:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string>Maximum ICP translation correction accepted (>0). A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2014-11-19 23:38:15 +00:00
</property>
</widget>
</item>
2016-01-12 11:37:50 -05:00
<item row="7" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
2016-01-12 11:37:50 -05:00
<item row="7" column="1">
2015-11-22 18:08:32 -05:00
<widget class="QLabel" name="label_133">
2014-12-18 16:54:46 -05:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string>Ratio of matching correspondences to accept the transform. If the maximum laser scans is set, this is the minimum ratio of correspondences on laser scan maximum size to accept the transform.</string>
2014-12-18 16:54:46 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-12-18 16:54:46 -05:00
</widget>
</item>
2016-01-12 11:37:50 -05:00
<item row="9" column="1">
2015-11-22 18:08:32 -05:00
<widget class="QLabel" name="label_212">
2015-04-07 12:00:10 -04:00
<property name="text">
2016-01-08 19:15:49 -05:00
<string>Number of neighbors to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
2015-04-23 22:01:41 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-04-23 22:01:41 -04:00
</widget>
</item>
2016-01-12 11:37:50 -05:00
<item row="9" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QSpinBox" name="loopClosure_icpPointToPlaneNormals">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="3" column="1">
2015-11-22 18:08:32 -05:00
<widget class="QLabel" name="label_125">
2015-04-23 22:01:41 -04:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string>Uniform sampling voxel size. Set to 0 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="2" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QSpinBox" name="loopClosure_icpDownsamplingStep">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="3" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QDoubleSpinBox" name="loopClosure_icpVoxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
2015-04-23 22:01:41 -04:00
</property>
2015-11-22 18:08:32 -05:00
<property name="singleStep">
<double>0.010000000000000</double>
2015-04-07 12:00:10 -04:00
</property>
2015-11-22 18:08:32 -05:00
<property name="value">
<double>0.005000000000000</double>
2015-07-17 13:32:18 -04:00
</property>
2015-04-07 12:00:10 -04:00
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="5" column="1">
2015-11-22 18:08:32 -05:00
<widget class="QLabel" name="label_124">
2015-06-11 16:57:16 -04:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string>Max iterations.</string>
2015-06-11 16:57:16 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-11 16:57:16 -04:00
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="5" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QSpinBox" name="loopClosure_icpIterations">
<property name="minimum">
<number>1</number>
2015-06-27 01:43:29 -04:00
</property>
2015-06-11 16:57:16 -04:00
<property name="maximum">
2015-11-22 18:08:32 -05:00
<number>1000</number>
</property>
<property name="value">
<number>10</number>
2015-06-11 16:57:16 -04:00
</property>
</widget>
</item>
2015-06-27 01:43:29 -04:00
<item row="0" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QDoubleSpinBox" name="globalDetection_icpMaxTranslation">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
2015-06-11 16:57:16 -04:00
</property>
2015-06-15 20:53:31 -04:00
<property name="maximum">
2015-11-22 18:08:32 -05:00
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
2015-06-15 20:53:31 -04:00
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_55">
2015-06-15 20:53:31 -04:00
<property name="text">
2015-11-22 18:08:32 -05:00
<string>Maximum ICP rotation correction accepted (>0). A large rotation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
2015-06-15 20:53:31 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-15 20:53:31 -04:00
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="globalDetection_icpMaxRotation">
<property name="suffix">
<string> rad</string>
2015-06-15 20:53:31 -04:00
</property>
2015-11-22 18:08:32 -05:00
<property name="decimals">
<number>2</number>
2015-09-28 21:45:41 -04:00
</property>
2015-11-22 18:08:32 -05:00
<property name="maximum">
<double>3.140000000000000</double>
2015-09-28 21:45:41 -04:00
</property>
2015-11-22 18:08:32 -05:00
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.780000000000000</double>
2015-09-28 21:45:41 -04:00
</property>
</widget>
</item>
2016-01-06 17:26:55 -05:00
<item row="4" column="0">
2015-11-22 18:08:32 -05:00
<widget class="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
2015-09-28 21:45:41 -04:00
</property>
</widget>
</item>
2016-01-12 11:37:50 -05:00
<item row="8" column="1">
2015-11-22 18:08:32 -05:00
<widget class="QLabel" name="label_144">
<property name="text">
<string>Point to plane ICP. Only for ICP 3D.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-01-12 11:37:50 -05:00
<item row="6" column="1">
<widget class="QLabel" name="label_136">
<property name="text">
<string>Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpEpsilon">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</item>
</layout>
</widget>
</item>
<item>
2015-12-11 17:44:15 -05:00
<spacer name="verticalSpacer_21">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_29">
<layout class="QVBoxLayout" name="verticalLayout_57">
<item>
<widget class="QGroupBox" name="groupBox_stereo1">
<property name="title">
<string>Stereo</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_56">
<item>
<widget class="QLabel" name="label_187">
<property name="text">
<string>These parameters are used to find the 3D positions of visual words using disparity between the left and right images. Optical flow can be used to find corresponding corners in the right image of words extracted from the left image.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_10">
<property name="title">
<string/>
</property>
<layout class="QGridLayout" name="gridLayout_33" columnstretch="0,1">
2016-02-27 18:30:00 -05:00
<item row="2" column="1">
<widget class="QLabel" name="label_284">
2015-12-11 17:44:15 -05:00
<property name="text">
2016-02-27 18:30:00 -05:00
<string>Window height.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-27 18:30:00 -05:00
<item row="5" column="1">
<widget class="QLabel" name="label_285">
2015-12-11 17:44:15 -05:00
<property name="text">
2016-02-27 18:30:00 -05:00
<string>Minimum disparity.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-27 18:30:00 -05:00
<item row="1" column="0">
<widget class="QSpinBox" name="stereo_winWidth">
2015-12-11 17:44:15 -05:00
<property name="minimum">
<number>3</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
2016-02-27 18:30:00 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_205">
2015-12-11 17:44:15 -05:00
<property name="text">
2016-02-27 18:30:00 -05:00
<string>Window width.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-27 18:30:00 -05:00
<item row="5" column="0">
<widget class="QSpinBox" name="stereo_minDisparity">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_206">
2015-12-11 17:44:15 -05:00
<property name="text">
2016-02-27 18:30:00 -05:00
<string>Maximum iterations.</string>
2015-12-11 17:44:15 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2016-02-27 18:30:00 -05:00
<item row="8" column="0">
<widget class="QCheckBox" name="stereo_ssd">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="stereo_winHeight">
2015-12-11 17:44:15 -05:00
<property name="minimum">
<number>3</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="stereo_iterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="stereo_flow_eps">
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_207">
<property name="text">
<string>[OpticalFlow = true] Epsilon stop criterion.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_208">
<property name="text">
<string>Maximum pyramid level.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="stereo_maxLevel">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>3</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_287">
<property name="text">
<string>[OpticalFlow = false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_214">
<property name="text">
<string>Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_286">
<property name="text">
<string>Maximum disparity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="stereo_maxDisparity">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="stereo_opticalFlow">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_29">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>464</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_51">
<layout class="QVBoxLayout" name="verticalLayout_83">
<item>
<widget class="QGroupBox" name="groupBox_stereoBM2">
<property name="title">
<string>StereoBM</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_82">
<item>
<widget class="QLabel" name="label_197">
<property name="text">
<string>Stereo correspondence using the block matching algorithm (cv::StereoBM), introduced and contributed to OpenCV by K. Konolige. This approach is used to construct a dense disparity image for visualization (RGB-D point clouds) or to create a depth image when acquiring from a stereo source. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_16">
<property name="title">
<string/>
</property>
<layout class="QGridLayout" name="gridLayout_34" columnstretch="0,1">
<item row="6" column="0">
<widget class="QSpinBox" name="stereobm_uniquessRatio">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="stereobm_numDisparities">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="stereobm_preFilterCap">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_278">
<property name="text">
<string>Pre-filter Size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_276">
<property name="text">
<string>Minimum disparity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_281">
<property name="text">
<string>Texture threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_279">
<property name="text">
<string>Pre-filter Cap.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="stereobm_speckleWinSize">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_277">
<property name="text">
<string>Number of disparities.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_216">
<property name="text">
<string>Block size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="stereobm_minDisparity">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="stereobm_blockSize">
<property name="minimum">
<number>3</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="stereobm_preFilterSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_280">
<property name="text">
<string>Uniqueness ratio.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="stereobm_tetureThreshold">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="stereobm_speckleRange">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_282">
<property name="text">
<string>Speckle window size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_283">
<property name="text">
<string>Speckle range.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_42">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1375</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_45">
<layout class="QVBoxLayout" name="verticalLayout_74">
<item>
<widget class="QGroupBox" name="groupBox_feature1">
<property name="title">
<string>Feature</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_75">
<item>
<widget class="QLabel" name="label_10">
<property name="text">
<string>Parameters for each corresponding OpenCV feature type. See the sub panels.</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_36">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1197</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_13">
<layout class="QVBoxLayout" name="verticalLayout_38">
<item>
<widget class="QGroupBox" name="groupBox_detector_surf2">
<property name="title">
<string>SURF</string>
</property>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
<item row="4" column="0">
<widget class="QCheckBox" name="surf_checkBox_upright">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Octave layers.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Descriptor extended (true=128, false=64).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_surf_checkBox_gpuKeypointsRatio">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>GPU keypoints ratio.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_surf_checkBox_gpuVersion">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>GPU version.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="surf_spinBox_octaves">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>4</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="surf_checkBox_gpuVersion">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_49">
<property name="text">
<string>U-SURF used.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_gpuKeypointsRatio">
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_hessianThr">
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>50000.000000000000000</double>
</property>
<property name="value">
<double>500.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_surfExtended">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="surf_spinBox_octaveLayers">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_26">
<property name="text">
<string>Octaves.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Hessian threshold.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_17">
2015-11-22 18:08:32 -05:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-12-11 17:44:15 -05:00
<widget class="QWidget" name="page_14">
<layout class="QVBoxLayout" name="verticalLayout_39">
2015-11-22 18:08:32 -05:00
<item>
2015-12-11 17:44:15 -05:00
<widget class="QGroupBox" name="groupBox_detector_sift2">
2015-11-22 18:08:32 -05:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>SIFT</string>
2015-11-22 18:08:32 -05:00
</property>
2015-12-11 17:44:15 -05:00
<layout class="QGridLayout" name="gridLayout_19" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="sift_spinBox_nFeatures"/>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_129">
2015-11-22 18:08:32 -05:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string>Sigma.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-11-04 18:58:40 +00:00
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_contrastThr">
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>50000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.006667000000000</double>
2014-11-04 18:58:40 +00:00
</property>
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="2" column="1">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Contrast threshold.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Edge threshold.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_edgeThr">
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>10.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_sigma">
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>10.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="sift_spinBox_nOctaveLayers"/>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_130">
<property name="text">
<string>nOctaveLayers.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_131">
<property name="text">
<string>nFeatures.</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
2015-11-22 18:08:32 -05:00
</item>
2012-12-11 18:05:05 +00:00
</layout>
</widget>
</item>
<item>
2015-12-11 17:44:15 -05:00
<spacer name="verticalSpacer_19">
2012-12-11 18:05:05 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
2013-12-11 00:12:44 +00:00
<width>20</width>
2015-12-11 17:44:15 -05:00
<height>40</height>
2012-12-11 18:05:05 +00:00
</size>
</property>
</spacer>
</item>
</layout>
2011-06-05 14:45:39 +00:00
</widget>
2015-12-11 17:44:15 -05:00
<widget class="QWidget" name="page_17">
<layout class="QVBoxLayout" name="verticalLayout_14">
2014-10-13 19:10:22 +00:00
<item>
2015-12-11 17:44:15 -05:00
<widget class="QGroupBox" name="groupBox_detector_fast2">
2014-10-13 19:10:22 +00:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>FAST</string>
2014-10-13 19:10:22 +00:00
</property>
2015-12-11 17:44:15 -05:00
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
2015-06-27 01:43:29 -04:00
<item>
2015-12-11 17:44:15 -05:00
<layout class="QFormLayout" name="formLayout_2">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
2015-07-17 13:32:18 -04:00
</property>
2015-12-11 17:44:15 -05:00
<item row="0" column="0">
<widget class="QSpinBox" name="fastThreshold">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_56">
2015-11-22 18:08:32 -05:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string>Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.</string>
2015-06-27 01:43:29 -04:00
</property>
2015-11-22 18:08:32 -05:00
<property name="wordWrap">
<bool>true</bool>
2015-06-27 01:43:29 -04:00
</property>
2015-11-22 18:08:32 -05:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2015-06-27 01:43:29 -04:00
</property>
2015-11-22 18:08:32 -05:00
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="1" column="0">
<widget class="QCheckBox" name="fastSuppressNonMax">
2015-11-22 18:08:32 -05:00
<property name="text">
<string/>
2015-06-27 01:43:29 -04:00
</property>
2015-12-11 17:44:15 -05:00
<property name="checked">
<bool>true</bool>
</property>
2015-06-27 01:43:29 -04:00
</widget>
2014-10-13 19:10:22 +00:00
</item>
2015-12-11 17:44:15 -05:00
<item row="1" column="1">
<widget class="QLabel" name="label_69">
<property name="text">
<string>If true, non-maximum suppression is applied to detected corners (keypoints).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2015-11-22 18:08:32 -05:00
</layout>
</item>
2016-02-22 18:22:49 -05:00
<item>
<widget class="QGroupBox" name="groupBox_fast_opencv2">
<property name="title">
<string>OpenCV 2</string>
</property>
<layout class="QGridLayout" name="gridLayout_71" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="fastThresholdMin">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_111">
<property name="text">
<string>Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="fastThresholdMax">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_115">
<property name="text">
<string>Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="fastGridRows">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_104">
<property name="text">
<string>Grid rows (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="fastGridCols">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_109">
<property name="text">
<string>Grid cols (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="fastGpu">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_fastGPU">
<property name="text">
<string>GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="fastKeypointRatio">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_fastGPUKptRatio">
<property name="text">
<string>Used with FAST GPU.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
2015-11-22 18:08:32 -05:00
<item>
2015-12-11 17:44:15 -05:00
<spacer name="verticalSpacer_16">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_15">
<layout class="QVBoxLayout" name="verticalLayout_40">
<item>
<widget class="QGroupBox" name="groupBox_detector_brief2">
<property name="title">
<string>BRIEF</string>
</property>
<layout class="QGridLayout" name="gridLayout_16" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="briefBytes">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>32</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_52">
2015-11-22 18:08:32 -05:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string>Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-12-11 17:44:15 -05:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-11-22 18:08:32 -05:00
</widget>
</item>
</layout>
</widget>
</item>
<item>
2015-12-11 17:44:15 -05:00
<spacer name="verticalSpacer_22">
2015-11-22 18:08:32 -05:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2015-12-11 17:44:15 -05:00
<height>660</height>
2015-11-22 18:08:32 -05:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-12-11 17:44:15 -05:00
<widget class="QWidget" name="page_18">
<layout class="QVBoxLayout" name="verticalLayout_35">
2015-11-22 18:08:32 -05:00
<item>
2015-12-11 17:44:15 -05:00
<widget class="QGroupBox" name="groupBox_detector_orb2">
2015-11-22 18:08:32 -05:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>ORB</string>
2015-11-22 18:08:32 -05:00
</property>
2015-12-11 17:44:15 -05:00
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBScaleFactor">
<property name="decimals">
<number>1</number>
</property>
<property name="value">
<double>1.200000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_32">
2015-11-22 18:08:32 -05:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string>Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_ORBNLevels">
<property name="value">
<number>8</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_43">
<property name="text">
<string>The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_ORBEdgeThreshold">
<property name="value">
<number>31</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_95">
<property name="text">
<string>This is size of the border where the features are not detected. It should roughly match the patchSize parameter.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_ORBFirstLevel">
<property name="maximum">
<number>0</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_127">
<property name="text">
<string>It should be 0 in the current implementation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_ORBWTA_K">
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_128">
<property name="text">
<string>WTA_K: The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_ORBScoreType"/>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_140">
<property name="text">
<string>The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="spinBox_ORBPatchSize">
<property name="value">
<number>31</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_147">
<property name="text">
<string>size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_ORBGpu">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_orbGpu">
<property name="text">
<string>GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
2015-11-22 18:08:32 -05:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
2014-10-13 19:10:22 +00:00
</layout>
</widget>
</item>
<item>
2015-12-11 17:44:15 -05:00
<spacer name="verticalSpacer_18">
2014-10-13 19:10:22 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2015-12-11 17:44:15 -05:00
<height>40</height>
2014-10-13 19:10:22 +00:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-12-11 17:44:15 -05:00
<widget class="QWidget" name="page_11">
<layout class="QVBoxLayout" name="verticalLayout_36">
2014-10-13 19:10:22 +00:00
<item>
2015-12-11 17:44:15 -05:00
<widget class="QGroupBox" name="groupBox_detector_freak2">
2014-10-13 19:10:22 +00:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>FREAK</string>
2014-10-13 19:10:22 +00:00
</property>
2015-12-11 17:44:15 -05:00
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_FREAKOrientationNormalized">
2014-10-13 19:10:22 +00:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Enable orientation normalization.</string>
2014-10-13 19:10:22 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2014-10-13 19:10:22 +00:00
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_FREAKScaleNormalized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Enable scale normalization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_FREAKPatternScale">
<property name="value">
<double>22.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Scaling of the description pattern.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_FREAKNOctaves">
<property name="value">
<number>4</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Number of octaves covered by the detected keypoints.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
2014-10-13 19:10:22 +00:00
</property>
2014-11-04 18:58:40 +00:00
</widget>
</item>
2014-10-13 19:10:22 +00:00
</layout>
</widget>
</item>
<item>
2015-12-11 17:44:15 -05:00
<spacer name="verticalSpacer_13">
2014-10-13 19:10:22 +00:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2015-12-11 17:44:15 -05:00
<height>40</height>
2014-10-13 19:10:22 +00:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-12-11 17:44:15 -05:00
<widget class="QWidget" name="page_16">
<layout class="QVBoxLayout" name="verticalLayout_9">
2015-04-23 22:01:41 -04:00
<item>
2015-12-11 17:44:15 -05:00
<widget class="QGroupBox" name="groupBox_detector_gftt2">
2015-04-23 22:01:41 -04:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>GFTT</string>
2015-04-23 22:01:41 -04:00
</property>
2015-12-11 17:44:15 -05:00
<layout class="QGridLayout" name="gridLayout_21" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_qualityLevel">
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_minDistance">
<property name="decimals">
<number>1</number>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_GFTT_useHarrisDetector">
2015-06-27 01:43:29 -04:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_172">
<property name="text">
<string>Use Harris detector.</string>
2015-06-27 01:43:29 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-27 01:43:29 -04:00
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_k">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.040000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_173">
2015-04-23 22:01:41 -04:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string>K. Harris detector free parameter.</string>
2015-04-23 22:01:41 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-04-23 22:01:41 -04:00
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_GFTT_blockSize">
<property name="value">
<number>3</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_175">
<property name="text">
<string>Quality level. Parameter characterizing the minimal accepted quality of image corners. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue (see cornerMinEigenVal() ) or the Harris function response. The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure less than 15 are rejected.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_176">
<property name="text">
<string>Minimum possible Euclidean distance between the returned corners.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_177">
<property name="text">
<string>Block size. Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
2015-04-23 22:01:41 -04:00
</item>
</layout>
</widget>
</item>
<item>
2015-12-11 17:44:15 -05:00
<spacer name="verticalSpacer_25">
2015-04-23 22:01:41 -04:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2015-12-11 17:44:15 -05:00
<height>644</height>
2015-04-23 22:01:41 -04:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2015-12-11 17:44:15 -05:00
<widget class="QWidget" name="page_25">
<layout class="QVBoxLayout" name="verticalLayout_47">
2015-06-11 16:57:16 -04:00
<item>
2015-12-11 17:44:15 -05:00
<widget class="QGroupBox" name="groupBox_detector_brisk2">
2015-06-11 16:57:16 -04:00
<property name="title">
2015-12-11 17:44:15 -05:00
<string>BRISK</string>
2015-06-11 16:57:16 -04:00
</property>
2015-12-11 17:44:15 -05:00
<layout class="QGridLayout" name="gridLayout_26" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_191">
2015-06-11 16:57:16 -04:00
<property name="text">
2015-12-11 17:44:15 -05:00
<string>FAST/AGAST detection threshold score.</string>
2015-06-11 16:57:16 -04:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
2015-07-17 13:32:18 -04:00
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
2015-06-11 16:57:16 -04:00
</widget>
</item>
2015-12-11 17:44:15 -05:00
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_BRISK_patterScale">
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_188">
<property name="text">
<string>Detection octaves. Use 0 to do single scale.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_BRISK_octaves">
<property name="maximum">
<number>10</number>
</property>
<property name="value">
<number>3</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_189">
<property name="text">
<string>Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_BRISK_thresh">
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
2015-06-11 16:57:16 -04:00
</item>
</layout>
</widget>
</item>
<item>
2015-12-11 17:44:15 -05:00
<spacer name="verticalSpacer_26">
2015-06-11 16:57:16 -04:00
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
2015-12-11 17:44:15 -05:00
<height>742</height>
2015-06-11 16:57:16 -04:00
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2012-12-11 18:05:05 +00:00
</widget>
</item>
</layout>
2011-06-05 14:45:39 +00:00
</item>
</layout>
</widget>
</widget>
</item>
<item>
2012-03-03 01:46:30 +00:00
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="leftMargin">
<number>12</number>
2011-06-05 14:45:39 +00:00
</property>
2012-03-03 01:46:30 +00:00
<property name="rightMargin">
<number>12</number>
2011-06-05 14:45:39 +00:00
</property>
2012-03-03 01:46:30 +00:00
<item>
<widget class="QDialogButtonBox" name="buttonBox_local">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults</set>
</property>
</widget>
</item>
</layout>
2011-06-05 14:45:39 +00:00
</item>
</layout>
</item>
</layout>
</item>
<item>
2012-03-03 01:46:30 +00:00
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QRadioButton" name="radioButton_basic">
<property name="text">
<string>Basic</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_advanced">
<property name="text">
<string>Advanced</string>
</property>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox_global">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
2011-06-05 14:45:39 +00:00
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
2012-06-24 17:19:34 +00:00
<class>UPlot</class>
2011-06-05 14:45:39 +00:00
<extends>QWidget</extends>
2016-01-05 13:55:21 -05:00
<header>../include/rtabmap/utilite/UPlot.h</header>
2011-06-05 14:45:39 +00:00
<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../GuiLib.qrc"/>
</resources>
2012-03-03 01:46:30 +00:00
<connections/>
2011-06-05 14:45:39 +00:00
</ui>
