mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Devel: new feature msckf_vio
This commit is contained in:
matlabbe
@@ -180,6 +180,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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#ifndef RTABMAP_LOAM
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_ui->odom_strategy->setItemData(7, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_MSCKF_VIO
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_ui->odom_strategy->setItemData(8, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_NONFREE
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_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
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@@ -1109,6 +1112,34 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->odom_loam_angvar->setObjectName(Parameters::kOdomLOAMAngVar().c_str());
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_ui->odom_loam_localMapping->setObjectName(Parameters::kOdomLOAMLocalMapping().c_str());
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// Odometry MSCKF_VIO
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_ui->OdomMSCKFGridRow->setObjectName(Parameters::kOdomMSCKFGridRow().c_str());
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_ui->OdomMSCKFGridCol->setObjectName(Parameters::kOdomMSCKFGridCol().c_str());
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_ui->OdomMSCKFGridMinFeatureNum->setObjectName(Parameters::kOdomMSCKFGridMinFeatureNum().c_str());
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_ui->OdomMSCKFGridMaxFeatureNum->setObjectName(Parameters::kOdomMSCKFGridMaxFeatureNum().c_str());
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_ui->OdomMSCKFPyramidLevels->setObjectName(Parameters::kOdomMSCKFPyramidLevels().c_str());
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_ui->OdomMSCKFPatchSize->setObjectName(Parameters::kOdomMSCKFPatchSize().c_str());
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_ui->OdomMSCKFFastThreshold->setObjectName(Parameters::kOdomMSCKFFastThreshold().c_str());
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_ui->OdomMSCKFMaxIteration->setObjectName(Parameters::kOdomMSCKFMaxIteration().c_str());
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_ui->OdomMSCKFTrackPrecision->setObjectName(Parameters::kOdomMSCKFTrackPrecision().c_str());
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_ui->OdomMSCKFRansacThreshold->setObjectName(Parameters::kOdomMSCKFRansacThreshold().c_str());
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_ui->OdomMSCKFStereoThreshold->setObjectName(Parameters::kOdomMSCKFStereoThreshold().c_str());
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_ui->OdomMSCKFPositionStdThreshold->setObjectName(Parameters::kOdomMSCKFPositionStdThreshold().c_str());
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_ui->OdomMSCKFRotationThreshold->setObjectName(Parameters::kOdomMSCKFRotationThreshold().c_str());
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_ui->OdomMSCKFTranslationThreshold->setObjectName(Parameters::kOdomMSCKFTranslationThreshold().c_str());
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_ui->OdomMSCKFTrackingRateThreshold->setObjectName(Parameters::kOdomMSCKFTrackingRateThreshold().c_str());
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_ui->OdomMSCKFOptTranslationThreshold->setObjectName(Parameters::kOdomMSCKFOptTranslationThreshold().c_str());
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_ui->OdomMSCKFNoiseGyro->setObjectName(Parameters::kOdomMSCKFNoiseGyro().c_str());
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_ui->OdomMSCKFNoiseAcc->setObjectName(Parameters::kOdomMSCKFNoiseAcc().c_str());
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_ui->OdomMSCKFNoiseGyroBias->setObjectName(Parameters::kOdomMSCKFNoiseGyroBias().c_str());
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_ui->OdomMSCKFNoiseAccBias->setObjectName(Parameters::kOdomMSCKFNoiseAccBias().c_str());
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_ui->OdomMSCKFNoiseFeature->setObjectName(Parameters::kOdomMSCKFNoiseFeature().c_str());
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_ui->OdomMSCKFInitCovVel->setObjectName(Parameters::kOdomMSCKFInitCovVel().c_str());
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_ui->OdomMSCKFInitCovGyroBias->setObjectName(Parameters::kOdomMSCKFInitCovGyroBias().c_str());
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_ui->OdomMSCKFInitCovAccBias->setObjectName(Parameters::kOdomMSCKFInitCovAccBias().c_str());
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_ui->OdomMSCKFInitCovExRot->setObjectName(Parameters::kOdomMSCKFInitCovExRot().c_str());
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_ui->OdomMSCKFInitCovExTrans->setObjectName(Parameters::kOdomMSCKFInitCovExTrans().c_str());
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//Stereo
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_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
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_ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str());
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@@ -94,9 +94,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>673</width>
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<height>2803</height>
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<y>-1165</y>
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<width>678</width>
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<height>2909</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -117,7 +117,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>0</number>
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<number>18</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -10843,6 +10843,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>LOAM</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>MSCKF_VIO</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="2" column="1">
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@@ -11114,7 +11119,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<widget class="QStackedWidget" name="stackedWidget_odometryType">
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<property name="currentIndex">
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<number>7</number>
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<number>8</number>
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</property>
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<widget class="QWidget" name="page_52">
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<layout class="QVBoxLayout" name="verticalLayout_77">
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@@ -13376,6 +13381,759 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_74">
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<layout class="QVBoxLayout" name="verticalLayout_132">
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<item>
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<widget class="QGroupBox" name="groupBox_odomMSCKF">
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<property name="title">
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<string>MSCKF_VIO</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_131" stretch="0,1">
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<item>
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<widget class="QLabel" name="label_480">
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<property name="text">
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<string><html><head/><body><p>MSCKF_VIO: <a href="https://github.com/KumarRobotics/msckf_vio"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/KumarRobotics/msckf_vio</span></a></p><p>Stereo and IMU inputs required. Currently tested only with EuRoC data set.</p></body></html></string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="openExternalLinks">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_102" columnstretch="0,0">
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<item row="11" column="0">
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<widget class="QDoubleSpinBox" name="OdomMSCKFPositionStdThreshold">
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>99.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="12" column="1">
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<widget class="QLabel" name="label_487">
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<property name="text">
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<string>Rotation threshold.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="25" column="1">
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<widget class="QLabel" name="label_513">
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<property name="text">
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<string>Initial covariance extrinsic translation.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QSpinBox" name="OdomMSCKFFastThreshold"/>
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</item>
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<item row="4" column="0">
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<widget class="QSpinBox" name="OdomMSCKFPyramidLevels"/>
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</item>
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<item row="25" column="0">
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<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovExTrans">
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<property name="decimals">
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<number>5</number>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="OdomMSCKFGridMinFeatureNum"/>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_483">
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<property name="text">
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<string>Tracking precision.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QDoubleSpinBox" name="OdomMSCKFTrackPrecision">
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="15" column="0">
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<widget class="QDoubleSpinBox" name="OdomMSCKFOptTranslationThreshold">
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>99.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="13" column="1">
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<widget class="QLabel" name="label_488">
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<property name="text">
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<string>Translation threshold.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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||||
<property name="textInteractionFlags">
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||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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||||
</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QSpinBox" name="OdomMSCKFGridRow">
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<property name="minimum">
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<number>1</number>
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</property>
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</widget>
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</item>
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<item row="17" column="1">
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<widget class="QLabel" name="label_492">
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<property name="text">
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<string>Noise acceleration.</string>
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</property>
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||||
<property name="wordWrap">
|
||||
<bool>true</bool>
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||||
</property>
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||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
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||||
<item row="10" column="0">
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||||
<widget class="QDoubleSpinBox" name="OdomMSCKFStereoThreshold">
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<property name="decimals">
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||||
<number>1</number>
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||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFTranslationThreshold">
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="OdomMSCKFPatchSize">
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||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="OdomMSCKFGridCol">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFRotationThreshold">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="1">
|
||||
<widget class="QLabel" name="label_493">
|
||||
<property name="text">
|
||||
<string>Noise gyro bias.</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="1">
|
||||
<widget class="QLabel" name="label_486">
|
||||
<property name="text">
|
||||
<string>Position std threshold.</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="QDoubleSpinBox" name="OdomMSCKFNoiseGyro">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFRansacThreshold">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="20" column="1">
|
||||
<widget class="QLabel" name="label_507">
|
||||
<property name="text">
|
||||
<string>Noise feature.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="23" column="1">
|
||||
<widget class="QLabel" name="label_510">
|
||||
<property name="text">
|
||||
<string>Initial covariance acceleration bias.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="22" column="1">
|
||||
<widget class="QLabel" name="label_509">
|
||||
<property name="text">
|
||||
<string>Initial covariance gyro bias.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="24" column="1">
|
||||
<widget class="QLabel" name="label_511">
|
||||
<property name="text">
|
||||
<string>Initial covariance extrincic rotation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="21" column="1">
|
||||
<widget class="QLabel" name="label_508">
|
||||
<property name="text">
|
||||
<string>Initial covariance velocity.</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="OdomMSCKFGridMaxFeatureNum"/>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_484">
|
||||
<property name="text">
|
||||
<string>Ransac treshold.</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="OdomMSCKFTrackingRateThreshold">
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_485">
|
||||
<property name="text">
|
||||
<string>Stereo threshold.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="23" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovAccBias">
|
||||
<property name="decimals">
|
||||
<number>8</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="22" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovGyroBias">
|
||||
<property name="decimals">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="24" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovExRot">
|
||||
<property name="decimals">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="20" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseFeature">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="17" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseAcc">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="21" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovVel">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="19" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseAccBias">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="18" column="0">
|
||||
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseGyroBias">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<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>
|
||||
<item row="19" column="1">
|
||||
<widget class="QLabel" name="label_494">
|
||||
<property name="text">
|
||||
<string>Noise acceleration bias.</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="1">
|
||||
<widget class="QLabel" name="label_490">
|
||||
<property name="text">
|
||||
<string>Optimization translation threshold.</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="1">
|
||||
<widget class="QLabel" name="label_491">
|
||||
<property name="text">
|
||||
<string>Noise gyro.</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="1">
|
||||
<widget class="QLabel" name="label_489">
|
||||
<property name="text">
|
||||
<string>Tracking rate threshold.</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="OdomMSCKFMaxIteration"/>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_531">
|
||||
<property name="text">
|
||||
<string>Max iteration.</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_532">
|
||||
<property name="text">
|
||||
<string>Fast 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_533">
|
||||
<property name="text">
|
||||
<string>Patch 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="1">
|
||||
<widget class="QLabel" name="label_534">
|
||||
<property name="text">
|
||||
<string>Pyramid levels.</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_535">
|
||||
<property name="text">
|
||||
<string>Grid max feature num.</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_536">
|
||||
<property name="text">
|
||||
<string>Grid min feature num.</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_537">
|
||||
<property name="text">
|
||||
<string>Grid col.</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_538">
|
||||
<property name="text">
|
||||
<string>Grid row.</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>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_74">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>961</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_26">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_88">
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user