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Added "Vis/UseDepthAsMask" parameter (don't detect features where depth is not available or it is over "Vis/MaxDepth")

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This commit is contained in:
matlabbe
2016-01-13 09:20:15 -05:00
parent f6924ba48b
commit 136867253d
10 changed files with 179 additions and 58 deletions
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3
guilib/src/PreferencesDialog.cpp
View File

@@ -494,7 +494,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());
_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());
_ui->checkBox_useDepthAsMask->setObjectName(Parameters::kMemUseDepthAsMask().c_str());
// Database
_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
@@ -646,6 +646,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->loopClosure_useDepthAsMask->setObjectName(Parameters::kVisUseDepthAsMask().c_str());
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());

77
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-139</y>
<width>681</width>
<height>1888</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>10</number>
<number>7</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4976,7 +4976,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_101">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
@@ -4989,7 +4989,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
<property name="suffix">
<string> %</string>
@@ -4999,7 +4999,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_99">
<property name="text">
<string>Top ROI ratio (0 = no change).</string>
@@ -5098,14 +5098,14 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
<property name="suffix">
<string> %</string>
@@ -5115,7 +5115,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_97">
<property name="text">
<string>Left ROI ratio (0 = no change).</string>
@@ -5128,7 +5128,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_98">
<property name="text">
<string>Right ROI ratio (0 = no change).</string>
@@ -5141,7 +5141,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
<property name="suffix">
<string> %</string>
@@ -5151,7 +5151,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
<property name="suffix">
<string> %</string>
@@ -5161,7 +5161,7 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_100">
<property name="text">
<string>Bottom ROI ratio (0 = no change).</string>
@@ -5215,6 +5215,35 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_123">
<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>Use depth image as mask for feature detection.</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="QCheckBox" name="checkBox_useDepthAsMask">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -8739,7 +8768,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_261">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
@@ -8752,7 +8781,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QLineEdit" name="loopClosure_roi"/>
</item>
<item row="2" column="0">
@@ -8811,6 +8840,26 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_290">
<property name="text">
<string>Use depth image as mask for feature detection.</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="QCheckBox" name="loopClosure_useDepthAsMask">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>