mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added Vis/PnPSamplingPolicy parameter (opengv "multi" ransac)
This commit is contained in:
matlabbe
@@ -1175,6 +1175,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
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_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
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_ui->loopClosure_pnpMaxVariance->setObjectName(Parameters::kVisPnPMaxVariance().c_str());
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_ui->loopClosure_pnpSamplingPolicy->setObjectName(Parameters::kVisPnPSamplingPolicy().c_str());
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_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
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connect(_ui->reextract_nn, SIGNAL(currentIndexChanged(int)), this, SLOT(updateFeatureMatchingVisibility()));
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_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
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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>-606</y>
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<y>-988</y>
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<width>756</width>
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<height>3657</height>
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<height>3736</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>21</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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@@ -19455,16 +19455,25 @@ Lower the ratio -> higher the precision.</string>
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<string>Motion Estimation: 3D to 2D (PnP)</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_59" columnstretch="0,1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_loopClosure_pnpOpenCV2">
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<property name="text">
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<string>Refine iterations.</string>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_pnpMaxVariance">
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<property name="suffix">
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<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 name="decimals">
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<number>4</number>
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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 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>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>0.000000000000000</double>
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</property>
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</widget>
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</item>
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@@ -19500,6 +19509,19 @@ 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="3" column="1">
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<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_2">
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<property name="text">
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<string>Max linear variance between 3D point correspondences after PnP. 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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</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="QDoubleSpinBox" name="loopClosure_pnpReprojError">
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<property name="suffix">
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@@ -19519,6 +19541,32 @@ 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="1" column="1">
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<widget class="QLabel" name="label_235">
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<property name="text">
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<string>Flags.</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_loopClosure_pnpOpenCV2">
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<property name="text">
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<string>Refine iterations.</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="0">
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<widget class="QSpinBox" name="loopClosure_pnpRefineIterations">
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<property name="minimum">
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@@ -19535,10 +19583,29 @@ 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="1" column="1">
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<widget class="QLabel" name="label_235">
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<item row="4" column="0">
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<widget class="QComboBox" name="loopClosure_pnpSamplingPolicy">
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<item>
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<property name="text">
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<string>AUTO</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>ANY</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>HOMOGENEOUS</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="4" column="1">
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<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_3">
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<property name="text">
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<string>Flags.</string>
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<string>Multi-camera random sampling policy. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -19548,41 +19615,6 @@ 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="3" column="1">
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<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_2">
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<property name="text">
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<string>Max linear variance between 3D point correspondences after PnP. 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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</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="3" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_pnpMaxVariance">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>4</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>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>0.000000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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