mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added floor filtering options for features extraction (#1408)
* Added floor filtering options for features extraction * cleanup
This commit is contained in:
matlabbe
@@ -405,7 +405,8 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
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// set minimum for selected parameters
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if(key.compare(Parameters::kGridMinGroundHeight().c_str()) == 0 ||
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key.compare(Parameters::kGridMaxGroundHeight().c_str()) == 0 ||
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key.compare(Parameters::kGridMaxObstacleHeight().c_str()) == 0)
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key.compare(Parameters::kGridMaxObstacleHeight().c_str()) == 0 ||
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key.compare(Parameters::kVisDepthMaskFloorThr().c_str()) == 0)
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{
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widget->setMinimum(-1000000.0);
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}
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@@ -1057,6 +1057,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
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_ui->surf_doubleSpinBox_minDepth->setObjectName(Parameters::kKpMinDepth().c_str());
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_ui->checkBox_memDepthAsMask->setObjectName(Parameters::kMemDepthAsMask().c_str());
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_ui->doubleSpinBox_memDepthMaskFloorThr->setObjectName(Parameters::kMemDepthMaskFloorThr().c_str());
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_ui->checkBox_memStereoFromMotion->setObjectName(Parameters::kMemStereoFromMotion().c_str());
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_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpMaxFeatures().c_str());
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_ui->checkBox_kp_ssc->setObjectName(Parameters::kKpSSC().c_str());
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@@ -1289,6 +1290,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str());
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_ui->loopClosure_bowMinDepth->setObjectName(Parameters::kVisMinDepth().c_str());
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_ui->checkBox_visDepthAsMask->setObjectName(Parameters::kVisDepthAsMask().c_str());
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_ui->doubleSpinBox_visDepthMaskFloorThr->setObjectName(Parameters::kVisDepthMaskFloorThr().c_str());
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_ui->loopClosure_roi->setObjectName(Parameters::kVisRoiRatios().c_str());
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_ui->subpix_winSize->setObjectName(Parameters::kVisSubPixWinSize().c_str());
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_ui->subpix_iterations->setObjectName(Parameters::kVisSubPixIterations().c_str());
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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>3</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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@@ -10666,16 +10666,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<layout class="QVBoxLayout" name="verticalLayout_60">
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<item>
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<layout class="QGridLayout" name="gridLayout_32" columnstretch="0,1">
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<item row="5" column="1">
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<widget class="QLabel" name="label_22">
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<property name="toolTip">
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<string>0 means that the response (hessian) threshold
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used for the detector will not be adapted.
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Otherwise, the threshold is modified to
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generate the number of words requested.</string>
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</property>
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<item row="1" column="1">
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<widget class="QLabel" name="label_53">
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<property name="text">
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<string>Maximum words per image (0=no maximum). Setting to -1 will disable features extraction, so disabling loop closure detection indirectly.</string>
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<string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image".</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -10685,61 +10679,26 @@ generate the number of words requested.</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="label_81">
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<property name="text">
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<string>Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).</string>
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<item row="12" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
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<property name="suffix">
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<string> %</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="11" column="1">
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<widget class="QLabel" name="label_99">
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<property name="text">
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<string>Top ROI ratio (0 = no change).</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="7" column="0">
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<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
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<property name="decimals">
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<number>2</number>
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<number>0</number>
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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="surf_spinBox_wordsPerImageTarget">
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<property name="minimum">
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<double>0.000000000000000</double>
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<number>-1</number>
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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>0.050000000000000</double>
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<number>2000</number>
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</property>
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<property name="value">
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<double>0.250000000000000</double>
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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_57">
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<property name="text">
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<string>Minimum words depth. Only used when a depth image is provided. Applied before "Maximum words per image".</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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<number>500</number>
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</property>
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</widget>
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</item>
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@@ -10827,17 +10786,75 @@ generate the number of words requested.</string>
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</item>
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</widget>
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</item>
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<item row="15" column="1">
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<widget class="QLabel" name="label_86">
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<property name="text">
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<string>Number of columns of the grid used to extract uniformly "max words / grid cells" features from each cell.</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="2" column="1">
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<widget class="QLabel" name="label_57">
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<property name="text">
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<string>Minimum words depth. Only used when a depth image is provided. Applied before "Maximum words per image".</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="7" column="1">
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<widget class="QLabel" name="label_7551">
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<property name="text">
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<string>If true, SSC (Suppression via Square Covering) is applied to limit keypoints.</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="surf_doubleSpinBox_ratioBadSign">
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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>0.000000000000000</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>0.050000000000000</double>
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</property>
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<property name="value">
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<double>0.250000000000000</double>
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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="QLineEdit" name="lineEdit_kp_roi">
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<property name="readOnly">
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<bool>true</bool>
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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="label_101">
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<item row="5" column="1">
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<widget class="QLabel" name="label_582">
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<property name="text">
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<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
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<string>Triangulate features without depth using stereo from motion (odometry). It would be ignored if depth as mask is checked and the feature detector used supports masking.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -10847,21 +10864,8 @@ generate the number of words requested.</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_53">
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<property name="text">
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<string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image".</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="10" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
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<item row="13" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
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<property name="suffix">
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<string> %</string>
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</property>
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@@ -10870,19 +10874,6 @@ generate the number of words requested.</string>
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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_117">
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<property name="text">
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<string>Visual word type.</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="surf_doubleSpinBox_maxDepth">
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<property name="suffix">
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@@ -10905,30 +10896,10 @@ generate the number of words requested.</string>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
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<property name="minimum">
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<number>-1</number>
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</property>
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<property name="maximum">
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<number>2000</number>
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</property>
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<property name="value">
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<number>500</number>
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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="checkBox_kp_ssc">
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<item row="3" column="1">
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<widget class="QLabel" name="label_262">
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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="label_7551">
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<property name="text">
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<string>If true, SSC (Suppression via Square Covering) is applied to limit keypoints.</string>
|
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<string>Use depth image as mask when extracting features.</string>
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</property>
|
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<property name="wordWrap">
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<bool>true</bool>
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@@ -10938,30 +10909,7 @@ generate the number of words requested.</string>
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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="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
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<property name="suffix">
|
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<string> %</string>
|
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</property>
|
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<property name="decimals">
|
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<number>0</number>
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</property>
|
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</widget>
|
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</item>
|
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<item row="9" column="1">
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<widget class="QLabel" name="label_97">
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<property name="text">
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<string>Left ROI ratio (0 = no change).</string>
|
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</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_98">
|
||||
<property name="text">
|
||||
<string>Right ROI ratio (0 = no change).</string>
|
||||
@@ -10974,30 +10922,10 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_100">
|
||||
<widget class="QLabel" name="label_99">
|
||||
<property name="text">
|
||||
<string>Bottom ROI ratio (0 = no change).</string>
|
||||
<string>Top ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -11007,6 +10935,131 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<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>Maximum words per image (0=no maximum). Setting to -1 will disable features extraction, so disabling loop closure detection indirectly.</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_117">
|
||||
<property name="text">
|
||||
<string>Visual word type.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_97">
|
||||
<property name="text">
|
||||
<string>Left ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_KPGridRows">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_memStereoFromMotion">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_101">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</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="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_memDepthAsMask">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_81">
|
||||
<property name="text">
|
||||
<string>Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).</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="QCheckBox" name="checkBox_kp_ssc">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_minDepth">
|
||||
<property name="suffix">
|
||||
@@ -11029,7 +11082,7 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_50">
|
||||
<property name="text">
|
||||
<string>Number of rows of the grid used to extract uniformly "max words / grid cells" features from each cell.</string>
|
||||
@@ -11042,20 +11095,20 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_KPGridRows">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_100">
|
||||
<property name="text">
|
||||
<string>Bottom ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99</number>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<item row="15" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_KPGridCols">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -11068,43 +11121,10 @@ generate the number of words requested.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_86">
|
||||
<property name="text">
|
||||
<string>Number of columns of the grid used to extract uniformly "max words / grid cells" features from each cell.</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_262">
|
||||
<property name="text">
|
||||
<string>Use depth image as mask when extracting features.</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="QCheckBox" name="checkBox_memDepthAsMask">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_582">
|
||||
<widget class="QLabel" name="label_591">
|
||||
<property name="text">
|
||||
<string>Triangulate features without depth using stereo from motion (odometry). It would be ignored if depth as mask is checked and the feature detector used supports masking.</string>
|
||||
<string>Filter floor from depth mask. 0 means disabled, negative means keeping pixels below the floor theshold instead.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -11115,9 +11135,24 @@ generate the number of words requested.</string>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_memStereoFromMotion">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_memDepthMaskFloorThr">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-99.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -22553,10 +22588,10 @@ Lower the ratio -> higher the precision.</string>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_25" columnstretch="0,1">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_237">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_450">
|
||||
<property name="text">
|
||||
<string>Maximum feature depth.</string>
|
||||
<string>Use depth image as mask when extracting features.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -22566,49 +22601,6 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_261">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left right top bottom] between 0 and 1.</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="QLineEdit" name="loopClosure_roi"/>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="reextract_maxFeatures">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_180">
|
||||
<property name="text">
|
||||
<string>Max features extracted from the images (0 means inf).</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="QCheckBox" name="checkBox_visSSC">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_756">
|
||||
<property name="text">
|
||||
@@ -22622,6 +22614,32 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_237">
|
||||
<property name="text">
|
||||
<string>Maximum feature depth.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QSpinBox" name="reextract_gridcols">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_275">
|
||||
<property name="text">
|
||||
@@ -22635,6 +22653,79 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_438">
|
||||
<property name="text">
|
||||
<string>Number of rows of the grid used to extract uniformly "max features / grid cells" features from each cell.</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="QDoubleSpinBox" name="loopClosure_bowMinDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_visSSC">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_visDepthAsMask">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_439">
|
||||
<property name="text">
|
||||
<string>Number of columns of the grid used to extract uniformly "max features / grid cells" features from each cell.</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="0">
|
||||
<widget class="QSpinBox" name="reextract_maxFeatures">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_180">
|
||||
<property name="text">
|
||||
<string>Max features extracted from the images (0 means inf).</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="0">
|
||||
<widget class="QComboBox" name="vis_feature_detector">
|
||||
<property name="currentIndex">
|
||||
@@ -22725,6 +22816,16 @@ Lower the ratio -> higher the precision.</string>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_178">
|
||||
<property name="text">
|
||||
<string>Feature detector </string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="loopClosure_bowMaxDepth">
|
||||
<property name="suffix">
|
||||
@@ -22738,30 +22839,10 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_178">
|
||||
<property name="text">
|
||||
<string>Feature detector </string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="loopClosure_bowMinDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QLineEdit" name="loopClosure_roi"/>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QSpinBox" name="reextract_gridrows">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -22775,9 +22856,9 @@ Lower the ratio -> higher the precision.</string>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_438">
|
||||
<widget class="QLabel" name="label_261">
|
||||
<property name="text">
|
||||
<string>Number of rows of the grid used to extract uniformly "max features / grid cells" features from each cell.</string>
|
||||
<string>ROI ratios [left right top bottom] between 0 and 1.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -22787,10 +22868,10 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_439">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_759">
|
||||
<property name="text">
|
||||
<string>Number of columns of the grid used to extract uniformly "max features / grid cells" features from each cell.</string>
|
||||
<string>Filter floor from depth mask. 0 means disabled, negative means keeping pixels below the floor theshold instead.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -22800,36 +22881,19 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QSpinBox" name="reextract_gridcols">
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visDepthMaskFloorThr">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
<double>-99.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99</number>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_450">
|
||||
<property name="text">
|
||||
<string>Use depth image as mask when extracting features.</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="0">
|
||||
<widget class="QCheckBox" name="checkBox_visDepthAsMask">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user