i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added cvsba support for post-processing bundle adjustment (SBA)

Browse Source
This commit is contained in:
matlabbe
2015-08-12 20:59:21 -04:00
parent a8a3566fed
commit 31d374e141
13 changed files with 543 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
guilib/src/ui/aboutDialog.ui
View File

@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>824</width>
<height>507</height>
<height>581</height>
</rect>
</property>
<property name="sizePolicy">
@@ -82,6 +82,13 @@ p, li { white-space: pre-wrap; }
</item>
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="11" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>With OpenNI2 :</string>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
@@ -205,13 +212,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>With OpenNI2 :</string>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
@@ -293,6 +293,23 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>

2
guilib/src/ui/mainWindow.ui
View File

@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">

101
guilib/src/ui/postProcessingDialog.ui
View File

@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>486</width>
<height>425</height>
<width>552</width>
<height>540</height>
</rect>
</property>
<property name="windowTitle">
@@ -187,6 +187,103 @@
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="sba">
<property name="title">
<string>Sparse Bundle Adjustment (SBA)</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Iterations</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="sba_iterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Inlier distance of corresponding 3D words</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="sba_minInlierDistance">
<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>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Minimum inliers</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="sba_minInliers">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">