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Added OdomBow/FixedLocalMapPath parameter

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matlabbe
2015-06-25 16:04:42 -04:00
parent 91a4506956
commit 01f2f1348c
12 changed files with 209 additions and 56 deletions
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42
guilib/src/ui/preferencesDialog.ui
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@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-837</y>
<width>755</width>
<height>1591</height>
<y>0</y>
<width>760</width>
<height>1570</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>24</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -7387,8 +7387,8 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="title">
<string>BOW</string>
</property>
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,1">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,1,0,0">
<item row="0" column="1">
<widget class="QSpinBox" name="odom_localHistory">
<property name="minimum">
<number>0</number>
@@ -7404,7 +7404,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="0" column="1">
<item row="0" column="3">
<widget class="QLabel" name="label_190">
<property name="text">
<string>Local history size: If &gt; 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
@@ -7414,7 +7414,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="1" column="0">
<item row="1" column="1">
<widget class="QComboBox" name="odom_bin_nn">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -7446,7 +7446,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</item>
</widget>
</item>
<item row="1" column="1">
<item row="1" column="3">
<widget class="QLabel" name="label_201">
<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>
@@ -7456,7 +7456,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="2" column="0">
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="odom_bin_nndrRatio">
<property name="decimals">
<number>1</number>
@@ -7475,7 +7475,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="2" column="1">
<item row="2" column="3">
<widget class="QLabel" name="label_202">
<property name="text">
<string>NNDR ratio
@@ -7487,6 +7487,26 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="odom_fixedLocalMapPath"/>
</item>
<item row="3" column="3">
<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>
</widget>
</item>
<item row="3" column="2">
<widget class="QToolButton" name="toolButton_odomBowFixedLocalMap">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>