mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 09:07:47 +08:00
Cudasift tuning and SSC supporting multicameras (#1677)
* CudaSIFT: filter doubles * removed fixed threshold * SSC can be used with multicameras. Refactored CudaSIFT to support SSC. Add new parameter SIFT/MaxGaussianThreshold. DbViewer: show negative features with gray color (so that we can know which features are in the vocabulary) * Added SIFT/MaxGaussianThreshold parameter * Updated parameter description
This commit is contained in:
matlabbe
@@ -6163,6 +6163,14 @@ void DatabaseViewer::updateWordsMatching(const std::vector<int> & inliers)
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kptB->keypoint().pt.y,
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cB);
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}
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else if(ids[i]<0)
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{
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ui_->graphicsView_A->setFeatureColor(ids[i], Qt::gray);
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}
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}
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for(auto iter = wordsB.begin(); iter.key()<0 && iter!=wordsB.end(); ++iter)
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{
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ui_->graphicsView_B->setFeatureColor(iter.key(), Qt::gray);
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}
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ui_->graphicsView_A->update();
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ui_->graphicsView_B->update();
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@@ -1255,11 +1255,11 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, c
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{
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if (xRatio > 0 && yRatio > 0)
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{
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addFeature(iter->first, iter->second, util2d::getDepth(depth, iter->second.pt.x*xRatio, iter->second.pt.y*yRatio, false), color);
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addFeature(iter->first, iter->second, util2d::getDepth(depth, iter->second.pt.x*xRatio, iter->second.pt.y*yRatio, false), iter->first<0?Qt::gray:color);
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}
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else
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{
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addFeature(iter->first, iter->second, 0, color);
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addFeature(iter->first, iter->second, 0, iter->first<0?Qt::gray:color);
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}
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}
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@@ -171,6 +171,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->sift_label_gpu->setEnabled(false);
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_ui->sift_doubleSpinBox_gaussianDiffThreshold->setEnabled(false);
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_ui->sift_label_gaussianThreshold->setEnabled(false);
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_ui->sift_doubleSpinBox_maxGaussianDiffThreshold->setEnabled(false);
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_ui->sift_label_maxGaussianThreshold->setEnabled(false);
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_ui->sift_checkBox_upscale->setEnabled(false);
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_ui->sift_label_upscale->setEnabled(false);
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#endif
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@@ -1145,6 +1147,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->sift_checkBox_rootsift->setObjectName(Parameters::kSIFTRootSIFT().c_str());
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_ui->sift_checkBox_gpu->setObjectName(Parameters::kSIFTGpu().c_str());
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_ui->sift_doubleSpinBox_gaussianDiffThreshold->setObjectName(Parameters::kSIFTGaussianThreshold().c_str());
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_ui->sift_doubleSpinBox_maxGaussianDiffThreshold->setObjectName(Parameters::kSIFTMaxGaussianThreshold().c_str());
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_ui->sift_checkBox_upscale->setObjectName(Parameters::kSIFTUpscale().c_str());
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//BRIEF descriptor
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@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-2161</y>
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<y>-96</y>
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<width>684</width>
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<height>5201</height>
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<height>5218</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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@@ -95,7 +95,7 @@
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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>5</number>
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<number>9</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="0,0">
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@@ -11659,7 +11659,7 @@ generate the number of words requested.</string>
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<item row="4" column="1">
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<widget class="QLabel" name="label_591">
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<property name="text">
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<string>Filter floor from depth mask. 0 means disabled, negative means keeping pixels below the floor theshold instead.</string>
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<string>Filter floor from depth mask. 0 means disabled.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -23860,7 +23860,7 @@ Lower the ratio -> higher the precision.</string>
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<item row="7" column="1">
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<widget class="QLabel" name="label_759">
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<property name="text">
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<string>Filter floor from depth mask. 0 means disabled, negative means keeping pixels below the floor theshold instead.</string>
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<string>Filter floor from depth mask. 0 means disabled.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -26733,39 +26733,6 @@ Lower the ratio -> higher the precision.</string>
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<string>SIFT</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_19" columnstretch="0,1">
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<item row="4" column="0">
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<widget class="QCheckBox" name="sift_checkBox_preciseUpscale">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_30">
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<property name="text">
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<string>Edge threshold. The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).</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="sift_spinBox_nOctaveLayers"/>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="sift_label_preciseUpscale">
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<property name="text">
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<string>Whether to enable precise upscaling in the scale pyramid.</string>
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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="1">
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<widget class="QLabel" name="label_130">
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<property name="text">
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@@ -26779,13 +26746,53 @@ Lower the ratio -> higher the precision.</string>
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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="QDoubleSpinBox" name="sift_doubleSpinBox_edgeThr">
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<property name="singleStep">
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<double>0.100000000000000</double>
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<item row="6" column="0">
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<widget class="QCheckBox" name="sift_checkBox_gpu">
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<property name="text">
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<string/>
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</property>
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<property name="value">
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<double>10.000000000000000</double>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="sift_label_preciseUpscale">
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<property name="text">
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<string>Whether to enable precise upscaling in the scale pyramid.</string>
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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="7" column="1">
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<widget class="QLabel" name="sift_label_gaussianThreshold">
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<property name="text">
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<string>CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.</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="9" column="0">
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<widget class="QCheckBox" name="sift_checkBox_upscale">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>Contrast threshold. The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift.</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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@@ -26796,6 +26803,42 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="sift_checkBox_preciseUpscale">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="sift_label_gpu">
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<property name="text">
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<string>CudaSift: Use GPU version of SIFT. This option is enabled only RTAB-Map is built with CudaSift dependency and GPUs are detected.</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="sift_spinBox_nOctaveLayers"/>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_129">
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<property name="text">
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<string>Sigma. The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.</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="1" column="0">
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<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_contrastThr">
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<property name="decimals">
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@@ -26825,23 +26868,20 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="sift_label_gpu">
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<item row="9" column="1">
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<widget class="QLabel" name="sift_label_upscale">
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<property name="text">
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<string>CudaSift: Use GPU version of SIFT. This option is enabled only RTAB-Map is built with CudaSift dependency and GPUs are detected.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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<string>CudaSift: Whether to enable upscaling.</string>
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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="1" column="1">
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<widget class="QLabel" name="label_5">
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<item row="2" column="1">
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<widget class="QLabel" name="label_30">
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<property name="text">
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<string>Contrast threshold. The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift.</string>
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<string>Edge threshold. The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -26870,6 +26910,16 @@ Lower the ratio -> higher the precision.</string>
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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="QDoubleSpinBox" name="sift_doubleSpinBox_edgeThr">
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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>10.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="sift_label_rootsift">
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<property name="text">
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@@ -26880,43 +26930,13 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="sift_label_gaussianThreshold">
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<property name="text">
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<string>CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features are produced by the detector.</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="QCheckBox" name="sift_checkBox_gpu">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_129">
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<property name="text">
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<string>Sigma. The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.</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="1">
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<widget class="QLabel" name="sift_label_upscale">
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<widget class="QLabel" name="sift_label_maxGaussianThreshold">
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<property name="text">
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<string>CudaSift: Whether to enable upscaling.</string>
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<string>CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than gaussian threshold above). The lower the threshold, the less features with high response/hessian are produced by the detector.</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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@@ -26924,9 +26944,21 @@ Lower the ratio -> higher the precision.</string>
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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="QCheckBox" name="sift_checkBox_upscale">
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<property name="text">
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<string/>
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<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_maxGaussianDiffThreshold">
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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>100.000000000000000</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>4.500000000000000</double>
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</property>
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</widget>
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</item>
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Reference in New Issue
Block a user