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0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

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This commit is contained in:
matlabbe
2017-11-30 16:52:03 -05:00
parent 821c1c938e
commit 4452e637ad
46 changed files with 1892 additions and 802 deletions
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4
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -158,7 +158,6 @@ public:
bool isGroundTruthAligned() const;
bool isGraphsShown() const;
bool isFrustumsShown() const;
bool isLabelsShown() const;
double getVoxel() const;
double getNoiseRadius() const;
@@ -194,6 +193,7 @@ public:
int getScanPointSize(int index) const; // 0=map, 1=odom
bool isFeaturesShown(int index) const; // 0=map, 1=odom
bool isFrustumsShown(int index) const; // 0=map, 1=odom
int getFeaturesPointSize(int index) const; // 0=map, 1=odom
bool isCloudFiltering() const;
@@ -267,7 +267,6 @@ public:
double getSimThr() const;
int getOdomStrategy() const;
int getOdomBufferSize() const;
bool getRegVarianceFromInliersCount() const;
QString getCameraInfoDir() const; // "workinfDir/camera_info"
//
@@ -402,6 +401,7 @@ private:
QVector<QDoubleSpinBox*> _3dRenderingOpacityScan;
QVector<QSpinBox*> _3dRenderingPtSizeScan;
QVector<QCheckBox*> _3dRenderingShowFeatures;
QVector<QCheckBox*> _3dRenderingShowFrustums;
QVector<QSpinBox*> _3dRenderingPtSizeFeatures;
};

451
guilib/src/MainWindow.cpp
View File

@@ -545,7 +545,11 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
const std::map<std::string, float> & statistics = Statistics::defaultData();
for(std::map<std::string, float>::const_iterator iter = statistics.begin(); iter != statistics.end(); ++iter)
{
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), false);
// Don't add Gt panels yet if we don't know if we will receive Gt values.
if(!QString((*iter).first.c_str()).contains("Gt/"))
{
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), false);
}
}
}
// Specific MainWindow
@@ -1187,6 +1191,43 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
featuresUpdated = true;
}
if(_preferencesDialog->isFrustumsShown(1))
{
QMap<std::string, Transform> addedFrustums = _cloudViewer->getAddedFrustums();
for(QMap<std::string, Transform>::iterator iter = addedFrustums.begin(); iter!=addedFrustums.end(); ++iter)
{
std::list<std::string> splitted = uSplitNumChar(iter.key());
if(splitted.size() == 2)
{
int id = std::atoi(splitted.back().c_str());
if(splitted.front().compare("f_odom_") == 0 &&
odom.info().localBundlePoses.find(id) == odom.info().localBundlePoses.end())
{
_cloudViewer->removeFrustum(iter.key());
}
}
}
for(std::map<int, Transform>::const_iterator iter=odom.info().localBundlePoses.begin();iter!=odom.info().localBundlePoses.end(); ++iter)
{
std::string frustumId = uFormat("f_odom_%d", iter->first);
if(_cloudViewer->getAddedFrustums().contains(frustumId))
{
_cloudViewer->updateFrustumPose(frustumId, _odometryCorrection*iter->second);
}
else if(odom.info().localBundleModels.find(iter->first) != odom.info().localBundleModels.end())
{
const CameraModel & model = odom.info().localBundleModels.at(iter->first);
Transform t = model.localTransform();
if(!t.isNull())
{
QColor color = Qt::yellow;
_cloudViewer->addOrUpdateFrustum(frustumId, _odometryCorrection*iter->second, t, _cloudViewer->getFrustumScale(), color);
}
}
}
}
}
if(!dataIgnored)
{
@@ -1533,7 +1574,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
// For intermediate empty nodes, keep latest image shown
if(!signature.sensorData().imageRaw().empty() || signature.getWords().size())
if(signature.getWeight() >= 0 &&
(!signature.sensorData().imageRaw().empty() || signature.getWords().size()))
{
_ui->imageView_source->clear();
_ui->imageView_loopClosure->clear();
@@ -1542,204 +1584,225 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->imageView_loopClosure->setBackgroundColor(_ui->imageView_loopClosure->getDefaultBackgroundColor());
_ui->label_matchId->clear();
}
int rehearsalMerged = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
int proximityTimeDetections = (int)uValue(stat.data(), Statistics::kProximityTime_detections(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kNeighborLinkRefiningAccepted(), 0.0f);
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
if(rehearsalMerged > 0)
{
_ui->imageView_source->setBackgroundColor(Qt::blue);
}
else if(proximityTimeDetections > 0)
{
_ui->imageView_source->setBackgroundColor(Qt::darkYellow);
}
else if(scanMatchingSuccess)
{
_ui->imageView_source->setBackgroundColor(Qt::darkCyan);
}
else if(rehearsedSimilarity)
{
_ui->imageView_source->setBackgroundColor(Qt::darkBlue);
}
else if(smallMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::gray);
}
else if(fastMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::magenta);
}
// Set color code as tooltip
if(_ui->label_refId->toolTip().isEmpty())
{
_ui->label_refId->setToolTip(
"Background Color Code:\n"
" Blue = Weight Update Merged\n"
" Dark Blue = Weight Update\n"
" Dark Yellow = Proximity Detection in Time\n"
" Dark Cyan = Neighbor Link Refined\n"
" Gray = Small Movement\n"
" Magenta = Fast Movement\n"
"Feature Color code:\n"
" Green = New\n"
" Yellow = New but Not Unique\n"
" Red = In Vocabulary\n"
" Blue = In Vocabulary and in Previous Signature\n"
" Pink = In Vocabulary and in Loop Closure Signature\n"
" Gray = Not Quantized to Vocabulary");
}
// Set color code as tooltip
if(_ui->label_matchId->toolTip().isEmpty())
{
_ui->label_matchId->setToolTip(
"Background Color Code:\n"
" Green = Accepted Loop Closure Detection\n"
" Red = Rejected Loop Closure Detection\n"
" Yellow = Proximity Detection in Space\n"
"Feature Color code:\n"
" Red = In Vocabulary\n"
" Pink = In Vocabulary and in Loop Closure Signature\n"
" Gray = Not Quantized to Vocabulary");
}
int rehearsalMerged = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
int proximityTimeDetections = (int)uValue(stat.data(), Statistics::kProximityTime_detections(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kNeighborLinkRefiningAccepted(), 0.0f);
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
UDEBUG("time= %d ms", time.restart());
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
int matchId = 0;
Signature loopSignature;
int shownLoopId = 0;
if(highestHypothesisId > 0 || stat.proximityDetectionId()>0)
{
bool show = true;
if(stat.loopClosureId() > 0)
if(rehearsalMerged > 0)
{
_ui->imageView_loopClosure->setBackgroundColor(Qt::green);
_ui->label_stats_loopClosuresDetected->setText(QString::number(_ui->label_stats_loopClosuresDetected->text().toInt() + 1));
if(highestHypothesisIsSaved)
{
_ui->label_stats_loopClosuresReactivatedDetected->setText(QString::number(_ui->label_stats_loopClosuresReactivatedDetected->text().toInt() + 1));
}
_ui->label_matchId->setText(QString("Match ID = %1 [%2]").arg(stat.loopClosureId()).arg(loopMapId));
matchId = stat.loopClosureId();
_ui->imageView_source->setBackgroundColor(Qt::blue);
}
else if(stat.proximityDetectionId())
else if(proximityTimeDetections > 0)
{
_ui->imageView_loopClosure->setBackgroundColor(Qt::yellow);
_ui->label_matchId->setText(QString("Local match = %1 [%2]").arg(stat.proximityDetectionId()).arg(loopMapId));
matchId = stat.proximityDetectionId();
_ui->imageView_source->setBackgroundColor(Qt::darkYellow);
}
else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
else if(scanMatchingSuccess)
{
show = _preferencesDialog->imageRejectedShown() || _preferencesDialog->imageHighestHypShown();
if(show)
{
_ui->imageView_loopClosure->setBackgroundColor(Qt::red);
_ui->label_stats_loopClosuresRejected->setText(QString::number(_ui->label_stats_loopClosuresRejected->text().toInt() + 1));
_ui->label_matchId->setText(QString("Loop hypothesis %1 rejected!").arg(highestHypothesisId));
}
_ui->imageView_source->setBackgroundColor(Qt::darkCyan);
}
else
else if(rehearsedSimilarity)
{
show = _preferencesDialog->imageHighestHypShown();
if(show)
{
_ui->label_matchId->setText(QString("Highest hypothesis (%1)").arg(highestHypothesisId));
}
_ui->imageView_source->setBackgroundColor(Qt::darkBlue);
}
else if(smallMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::gray);
}
else if(fastMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::magenta);
}
// Set color code as tooltip
if(_ui->label_refId->toolTip().isEmpty())
{
_ui->label_refId->setToolTip(
"Background Color Code:\n"
" Blue = Weight Update Merged\n"
" Dark Blue = Weight Update\n"
" Dark Yellow = Proximity Detection in Time\n"
" Dark Cyan = Neighbor Link Refined\n"
" Gray = Small Movement\n"
" Magenta = Fast Movement\n"
"Feature Color code:\n"
" Green = New\n"
" Yellow = New but Not Unique\n"
" Red = In Vocabulary\n"
" Blue = In Vocabulary and in Previous Signature\n"
" Pink = In Vocabulary and in Loop Closure Signature\n"
" Gray = Not Quantized to Vocabulary");
}
// Set color code as tooltip
if(_ui->label_matchId->toolTip().isEmpty())
{
_ui->label_matchId->setToolTip(
"Background Color Code:\n"
" Green = Accepted Loop Closure Detection\n"
" Red = Rejected Loop Closure Detection\n"
" Yellow = Proximity Detection in Space\n"
"Feature Color code:\n"
" Red = In Vocabulary\n"
" Pink = In Vocabulary and in Loop Closure Signature\n"
" Gray = Not Quantized to Vocabulary");
}
if(show)
{
shownLoopId = stat.loopClosureId()>0?stat.loopClosureId():stat.proximityDetectionId()>0?stat.proximityDetectionId():highestHypothesisId;
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter != _cachedSignatures.end())
{
// uncompress after copy to avoid keeping uncompressed data in memory
loopSignature = iter.value();
loopSignature.sensorData().uncompressData();
}
}
}
_refIds.push_back(stat.refImageId());
_loopClosureIds.push_back(matchId);
//update image views
{
UCvMat2QImageThread qimageThread(signature.sensorData().imageRaw());
UCvMat2QImageThread qimageLoopThread(loopSignature.sensorData().imageRaw());
UCvMat2QImageThread qdepthThread(signature.sensorData().depthOrRightRaw());
UCvMat2QImageThread qdepthLoopThread(loopSignature.sensorData().depthOrRightRaw());
qimageThread.start();
qdepthThread.start();
qimageLoopThread.start();
qdepthLoopThread.start();
qimageThread.join();
qdepthThread.join();
qimageLoopThread.join();
qdepthLoopThread.join();
QImage img = qimageThread.getQImage();
QImage lcImg = qimageLoopThread.getQImage();
QImage depth = qdepthThread.getQImage();
QImage lcDepth = qdepthLoopThread.getQImage();
UDEBUG("time= %d ms", time.restart());
if(!img.isNull())
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
int matchId = 0;
Signature loopSignature;
int shownLoopId = 0;
if(highestHypothesisId > 0 || stat.proximityDetectionId()>0)
{
_ui->imageView_source->setImage(img);
}
if(!depth.isNull())
{
_ui->imageView_source->setImageDepth(depth);
}
if(img.isNull() && depth.isNull())
{
QRect sceneRect;
if(signature.sensorData().cameraModels().size())
bool show = true;
if(stat.loopClosureId() > 0)
{
for(unsigned int i=0; i<signature.sensorData().cameraModels().size(); ++i)
_ui->imageView_loopClosure->setBackgroundColor(Qt::green);
_ui->label_stats_loopClosuresDetected->setText(QString::number(_ui->label_stats_loopClosuresDetected->text().toInt() + 1));
if(highestHypothesisIsSaved)
{
sceneRect.setWidth(sceneRect.width()+signature.sensorData().cameraModels()[i].imageWidth());
sceneRect.setHeight(sceneRect.height()+signature.sensorData().cameraModels()[i].imageHeight());
_ui->label_stats_loopClosuresReactivatedDetected->setText(QString::number(_ui->label_stats_loopClosuresReactivatedDetected->text().toInt() + 1));
}
_ui->label_matchId->setText(QString("Match ID = %1 [%2]").arg(stat.loopClosureId()).arg(loopMapId));
matchId = stat.loopClosureId();
}
else if(stat.proximityDetectionId())
{
_ui->imageView_loopClosure->setBackgroundColor(Qt::yellow);
_ui->label_matchId->setText(QString("Local match = %1 [%2]").arg(stat.proximityDetectionId()).arg(loopMapId));
matchId = stat.proximityDetectionId();
}
else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
{
show = _preferencesDialog->imageRejectedShown() || _preferencesDialog->imageHighestHypShown();
if(show)
{
_ui->imageView_loopClosure->setBackgroundColor(Qt::red);
_ui->label_stats_loopClosuresRejected->setText(QString::number(_ui->label_stats_loopClosuresRejected->text().toInt() + 1));
_ui->label_matchId->setText(QString("Loop hypothesis %1 rejected!").arg(highestHypothesisId));
}
}
else if(signature.sensorData().stereoCameraModel().isValidForProjection())
else
{
sceneRect.setRect(0,0,signature.sensorData().stereoCameraModel().left().imageWidth(), signature.sensorData().stereoCameraModel().left().imageHeight());
show = _preferencesDialog->imageHighestHypShown();
if(show)
{
_ui->label_matchId->setText(QString("Highest hypothesis (%1)").arg(highestHypothesisId));
}
}
if(sceneRect.isValid())
if(show)
{
_ui->imageView_source->setSceneRect(sceneRect);
shownLoopId = stat.loopClosureId()>0?stat.loopClosureId():stat.proximityDetectionId()>0?stat.proximityDetectionId():highestHypothesisId;
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter != _cachedSignatures.end())
{
// uncompress after copy to avoid keeping uncompressed data in memory
loopSignature = iter.value();
loopSignature.sensorData().uncompressData();
}
}
}
if(!lcImg.isNull())
_refIds.push_back(stat.refImageId());
_loopClosureIds.push_back(matchId);
//update image views
{
_ui->imageView_loopClosure->setImage(lcImg);
UCvMat2QImageThread qimageThread(signature.sensorData().imageRaw());
UCvMat2QImageThread qimageLoopThread(loopSignature.sensorData().imageRaw());
UCvMat2QImageThread qdepthThread(signature.sensorData().depthOrRightRaw());
UCvMat2QImageThread qdepthLoopThread(loopSignature.sensorData().depthOrRightRaw());
qimageThread.start();
qdepthThread.start();
qimageLoopThread.start();
qdepthLoopThread.start();
qimageThread.join();
qdepthThread.join();
qimageLoopThread.join();
qdepthLoopThread.join();
QImage img = qimageThread.getQImage();
QImage lcImg = qimageLoopThread.getQImage();
QImage depth = qdepthThread.getQImage();
QImage lcDepth = qdepthLoopThread.getQImage();
UDEBUG("time= %d ms", time.restart());
if(!img.isNull())
{
_ui->imageView_source->setImage(img);
}
if(!depth.isNull())
{
_ui->imageView_source->setImageDepth(depth);
}
if(img.isNull() && depth.isNull())
{
QRect sceneRect;
if(signature.sensorData().cameraModels().size())
{
for(unsigned int i=0; i<signature.sensorData().cameraModels().size(); ++i)
{
sceneRect.setWidth(sceneRect.width()+signature.sensorData().cameraModels()[i].imageWidth());
sceneRect.setHeight(sceneRect.height()+signature.sensorData().cameraModels()[i].imageHeight());
}
}
else if(signature.sensorData().stereoCameraModel().isValidForProjection())
{
sceneRect.setRect(0,0,signature.sensorData().stereoCameraModel().left().imageWidth(), signature.sensorData().stereoCameraModel().left().imageHeight());
}
if(sceneRect.isValid())
{
_ui->imageView_source->setSceneRect(sceneRect);
}
}
if(!lcImg.isNull())
{
_ui->imageView_loopClosure->setImage(lcImg);
}
if(!lcDepth.isNull())
{
_ui->imageView_loopClosure->setImageDepth(lcDepth);
}
if(_ui->imageView_loopClosure->sceneRect().isNull())
{
_ui->imageView_loopClosure->setSceneRect(_ui->imageView_source->sceneRect());
}
}
if(!lcDepth.isNull())
UDEBUG("time= %d ms", time.restart());
// do it after scaling
this->drawKeypoints(signature.getWords(), loopSignature.getWords());
UDEBUG("time= %d ms", time.restart());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), signature.getWords().size(), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), loopSignature.getWords().size(), _preferencesDialog->isCacheSavedInFigures());
// loop closure view
if((stat.loopClosureId() > 0 || stat.proximityDetectionId() > 0) &&
!stat.loopClosureTransform().isNull() &&
!loopSignature.sensorData().imageRaw().empty())
{
_ui->imageView_loopClosure->setImageDepth(lcDepth);
}
if(_ui->imageView_loopClosure->sceneRect().isNull())
{
_ui->imageView_loopClosure->setSceneRect(_ui->imageView_source->sceneRect());
// the last loop closure data
Transform loopClosureTransform = stat.loopClosureTransform();
signature.setPose(loopClosureTransform);
_loopClosureViewer->setData(loopSignature, signature);
if(_ui->dockWidget_loopClosureViewer->isVisible())
{
UTimer loopTimer;
_loopClosureViewer->updateView(Transform(), _preferencesDialog->getAllParameters());
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(loopTimer.elapsed()*1000.0f), _preferencesDialog->isCacheSavedInFigures());
}
UDEBUG("time= %d ms", time.restart());
}
}
UDEBUG("time= %d ms", time.restart());
// do it after scaling
this->drawKeypoints(signature.getWords(), loopSignature.getWords());
UDEBUG("time= %d ms", time.restart());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), signature.getWords().size(), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), loopSignature.getWords().size(), _preferencesDialog->isCacheSavedInFigures());
// PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
{
@@ -1856,26 +1919,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->statsToolBox->updateStat(iter->first.c_str(), _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(iter->second), _preferencesDialog->isCacheSavedInFigures());
}
// loop closure view
if((stat.loopClosureId() > 0 || stat.proximityDetectionId() > 0) &&
!stat.loopClosureTransform().isNull() &&
!loopSignature.sensorData().imageRaw().empty())
{
// the last loop closure data
Transform loopClosureTransform = stat.loopClosureTransform();
signature.setPose(loopClosureTransform);
_loopClosureViewer->setData(loopSignature, signature);
if(_ui->dockWidget_loopClosureViewer->isVisible())
{
UTimer loopTimer;
_loopClosureViewer->updateView(Transform(), _preferencesDialog->getAllParameters());
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(loopTimer.elapsed()*1000.0f), _preferencesDialog->isCacheSavedInFigures());
}
UDEBUG("time= %d ms", time.restart());
}
}
if( _ui->graphicsView_graphView->isVisible())
@@ -2284,11 +2327,22 @@ void MainWindow::updateMapCloud(
// update 3D graphes (show all poses)
_cloudViewer->removeAllGraphs();
_cloudViewer->removeCloud("graph_nodes");
if(!_preferencesDialog->isFrustumsShown())
if(!_preferencesDialog->isFrustumsShown(0))
{
_cloudViewer->removeAllFrustums(true);
QMap<std::string, Transform> addedFrustums = _cloudViewer->getAddedFrustums();
for(QMap<std::string, Transform>::iterator iter = addedFrustums.begin(); iter!=addedFrustums.end(); ++iter)
{
std::list<std::string> splitted = uSplitNumChar(iter.key());
if(splitted.size() == 2)
{
if((splitted.front().compare("f_") == 0 || splitted.front().compare("f_gt_") == 0))
{
_cloudViewer->removeFrustum(iter.key());
}
}
}
}
if((_preferencesDialog->isGraphsShown() || _preferencesDialog->isFrustumsShown()) && _currentPosesMap.size())
if((_preferencesDialog->isGraphsShown() || _preferencesDialog->isFrustumsShown(0)) && _currentPosesMap.size())
{
UTimer timerGraph;
// Find all graphs
@@ -2310,7 +2364,7 @@ void MainWindow::updateMapCloud(
}
// get local transforms for frustums on the graph
if(_preferencesDialog->isFrustumsShown())
if(_preferencesDialog->isFrustumsShown(0))
{
std::string frustumId = uFormat("f_%d", iter->first);
if(_cloudViewer->getAddedFrustums().contains(frustumId))
@@ -2370,7 +2424,7 @@ void MainWindow::updateMapCloud(
_cloudViewer->addOrUpdateGraph(uFormat("graph_%d", iter->first), iter->second, color);
}
if(_preferencesDialog->isFrustumsShown())
if(_preferencesDialog->isFrustumsShown(0))
{
QMap<std::string, Transform> addedFrustums = _cloudViewer->getAddedFrustums();
UDEBUG("remove not used frustums");
@@ -3281,6 +3335,11 @@ Transform MainWindow::alignPosesToGroundTruth(
if(_preferencesDialog->isGroundTruthAligned())
{
t = gtToMap;
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
iter->second = gtToMap * iter->second;
}
}
// ground truth live statistics
@@ -4656,7 +4715,7 @@ void MainWindow::pauseDetection()
emit stateChanged(kPaused);
if(_preferencesDialog->getGeneralInputRate())
{
QTimer::singleShot(1000.0/_preferencesDialog->getGeneralInputRate() + 10, this, SLOT(pauseDetection()));
QTimer::singleShot(500.0/_preferencesDialog->getGeneralInputRate(), this, SLOT(pauseDetection()));
}
else
{

62
guilib/src/PreferencesDialog.cpp
View File

@@ -295,6 +295,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#if PCL_VERSION_COMPARE(<, 1, 7, 2)
_ui->checkBox_showFrustums->setEnabled(false);
_ui->checkBox_showFrustums->setChecked(false);
_ui->checkBox_showOdomFrustums->setEnabled(false);
_ui->checkBox_showOdomFrustums->setChecked(false);
#endif
// in case we change the ui, we should not forget to change stuff related to this parameter
@@ -393,6 +395,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_3dRenderingShowFeatures[0] = _ui->checkBox_showFeatures;
_3dRenderingShowFeatures[1] = _ui->checkBox_showOdomFeatures;
_3dRenderingShowFrustums.resize(2);
_3dRenderingShowFrustums[0] = _ui->checkBox_showFrustums;
_3dRenderingShowFrustums[1] = _ui->checkBox_showOdomFrustums;
_3dRenderingPtSizeFeatures.resize(2);
_3dRenderingPtSizeFeatures[0] = _ui->spinBox_ptsize_features;
_3dRenderingPtSizeFeatures[1] = _ui->spinBox_ptsize_odom_features;
@@ -406,6 +412,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_3dRenderingRoiRatios[i], SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingShowFrustums[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingDownsamplingScan[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_3dRenderingVoxelSizeScan[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -428,7 +435,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->doubleSpinBox_normalRadiusSearch_scan, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showFrustums, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -470,6 +476,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Source panel
connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->general_doubleSpinBox_imgRate, SIGNAL(valueChanged(double)), _ui->doubleSpinBox_OdomORBSLAM2Fps, SLOT(setValue(double)));
connect(_ui->source_mirroring, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_source_path_calibration, SIGNAL(clicked()), this, SLOT(selectCalibrationPath()));
connect(_ui->lineEdit_calibrationFile, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -488,7 +495,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_images_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceImagesPath()));
connect(_ui->source_images_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_images_refreshDir, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//video group
connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
@@ -544,6 +550,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_cameraImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_cameraImages_syncTimeStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_cameraRGBDImages_scale, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraRGBDImages_startIndex, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_laser_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraImages_max_scan_pts, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -553,6 +560,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->comboBox_cameraImages_odomFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->doubleSpinBox_maxPoseTimeDiff, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_depthFromScan, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->groupBox_depthFromScan_fillHoles, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->radioButton_depthFromScan_vertical, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
@@ -564,6 +572,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->lineEdit_cameraStereoImages_path_left, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->lineEdit_cameraStereoImages_path_right, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_cameraStereoImages_startIndex, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->toolButton_cameraStereoVideo_path, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath()));
connect(_ui->toolButton_cameraStereoVideo_path_2, SIGNAL(clicked()), this, SLOT(selectSourceStereoVideoPath2()));
@@ -699,6 +708,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
_ui->surf_doubleSpinBox_minDepth->setObjectName(Parameters::kKpMinDepth().c_str());
_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpMaxFeatures().c_str());
_ui->spinBox_KPGridRows->setObjectName(Parameters::kKpGridRows().c_str());
_ui->spinBox_KPGridCols->setObjectName(Parameters::kKpGridCols().c_str());
_ui->surf_doubleSpinBox_ratioBadSign->setObjectName(Parameters::kKpBadSignRatio().c_str());
_ui->checkBox_kp_tfIdfLikelihoodUsed->setObjectName(Parameters::kKpTfIdfLikelihoodUsed().c_str());
_ui->checkBox_kp_parallelized->setObjectName(Parameters::kKpParallelized().c_str());
@@ -833,8 +844,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str());
// Registration
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
_ui->reg_varianceNormalized->setObjectName(Parameters::kRegVarianceNormalized().c_str());
_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());
_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());
_ui->loopClosure_bowForce2D->setObjectName(Parameters::kRegForce3DoF().c_str());
@@ -859,6 +869,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
_ui->reextract_gridrows->setObjectName(Parameters::kVisGridRows().c_str());
_ui->reextract_gridcols->setObjectName(Parameters::kVisGridCols().c_str());
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str());
_ui->loopClosure_bowMinDepth->setObjectName(Parameters::kVisMinDepth().c_str());
_ui->loopClosure_roi->setObjectName(Parameters::kVisRoiRatios().c_str());
@@ -929,6 +941,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryType, SLOT(setCurrentIndex(int)));
_ui->odom_strategy->setCurrentIndex(Parameters::defaultOdomStrategy());
_ui->stackedWidget_odometryType->setCurrentIndex(Parameters::defaultOdomStrategy());
_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
@@ -1023,6 +1036,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->toolButton_OdomORBSLAM2VocPath, SIGNAL(clicked()), this, SLOT(changeOdometryORBSLAM2Vocabulary()));
_ui->doubleSpinBox_OdomORBSLAM2Bf->setObjectName(Parameters::kOdomORBSLAM2Bf().c_str());
_ui->doubleSpinBox_OdomORBSLAM2ThDepth->setObjectName(Parameters::kOdomORBSLAM2ThDepth().c_str());
_ui->doubleSpinBox_OdomORBSLAM2Fps->setObjectName(Parameters::kOdomORBSLAM2Fps().c_str());
_ui->spinBox_OdomORBSLAM2MaxFeatures->setObjectName(Parameters::kOdomORBSLAM2MaxFeatures().c_str());
//Stereo
_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
@@ -1384,6 +1399,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_3dRenderingRoiRatios[i]->setText("0.0 0.0 0.0 0.0");
_3dRenderingShowScans[i]->setChecked(true);
_3dRenderingShowFeatures[i]->setChecked(i==0?false:true);
_3dRenderingShowFrustums[i]->setChecked(false);
_3dRenderingDownsamplingScan[i]->setValue(1);
_3dRenderingVoxelSizeScan[i]->setValue(0.0);
@@ -1408,7 +1424,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->doubleSpinBox_normalRadiusSearch_scan->setValue(0.0);
_ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showFrustums->setChecked(false);
_ui->checkBox_showLabels->setChecked(false);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
@@ -1470,7 +1485,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
_ui->source_images_spinBox_startPos->setValue(0);
_ui->source_images_refreshDir->setChecked(false);
_ui->checkBox_rgb_rectify->setChecked(false);
_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0);
@@ -1537,6 +1551,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
_ui->spinBox_cameraRGBDImages_startIndex->setValue(0);
_ui->lineEdit_source_distortionModel->setText("");
_ui->groupBox_bilateral->setChecked(false);
_ui->doubleSpinBox_bilateral_sigmaS->setValue(10.0);
@@ -1546,6 +1561,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_cameraStereoImages_path_left->setText("");
_ui->lineEdit_cameraStereoImages_path_right->setText("");
_ui->checkBox_stereo_rectify->setChecked(false);
_ui->spinBox_cameraStereoImages_startIndex->setValue(0);
_ui->lineEdit_cameraStereoVideo_path->setText("");
_ui->lineEdit_cameraStereoVideo_path_2->setText("");
_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
@@ -1568,6 +1584,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(0);
_ui->lineEdit_cameraImages_gt->setText("");
_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(0);
_ui->doubleSpinBox_maxPoseTimeDiff->setValue(0.02);
_ui->groupBox_scanFromDepth->setChecked(false);
_ui->spinBox_cameraScanFromDepth_decimation->setValue(8);
@@ -1786,6 +1803,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_3dRenderingRoiRatios[i]->setText(settings.value(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text()).toString());
_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
_3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool());
_3dRenderingShowFrustums[i]->setChecked(settings.value(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked()).toBool());
_3dRenderingDownsamplingScan[i]->setValue(settings.value(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value()).toInt());
_3dRenderingVoxelSizeScan[i]->setValue(settings.value(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value()).toDouble());
@@ -1808,7 +1826,6 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->doubleSpinBox_normalRadiusSearch_scan->setValue(settings.value("scanNormalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch_scan->value()).toDouble());
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showFrustums->setChecked(settings.value("showFrustums", _ui->checkBox_showFrustums->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
_ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool());
@@ -1920,12 +1937,14 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->lineEdit_cameraRGBDImages_path_rgb->setText(settings.value("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text()).toString());
_ui->lineEdit_cameraRGBDImages_path_depth->setText(settings.value("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text()).toString());
_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(settings.value("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value()).toDouble());
_ui->spinBox_cameraRGBDImages_startIndex->setValue(settings.value("start_index", _ui->spinBox_cameraRGBDImages_startIndex->value()).toInt());
settings.endGroup(); // RGBDImages
settings.beginGroup("StereoImages");
_ui->lineEdit_cameraStereoImages_path_left->setText(settings.value("path_left", _ui->lineEdit_cameraStereoImages_path_left->text()).toString());
_ui->lineEdit_cameraStereoImages_path_right->setText(settings.value("path_right", _ui->lineEdit_cameraStereoImages_path_right->text()).toString());
_ui->checkBox_stereo_rectify->setChecked(settings.value("rectify",_ui->checkBox_stereo_rectify->isChecked()).toBool());
_ui->spinBox_cameraStereoImages_startIndex->setValue(settings.value("start_index",_ui->spinBox_cameraStereoImages_startIndex->value()).toInt());
settings.endGroup(); // StereoImages
settings.beginGroup("StereoVideo");
@@ -1947,7 +1966,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
settings.beginGroup("Images");
_ui->source_images_lineEdit_path->setText(settings.value("path", _ui->source_images_lineEdit_path->text()).toString());
_ui->source_images_spinBox_startPos->setValue(settings.value("startPos",_ui->source_images_spinBox_startPos->value()).toInt());
_ui->source_images_refreshDir->setChecked(settings.value("refreshDir",_ui->source_images_refreshDir->isChecked()).toBool());
_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(settings.value("bayerMode",_ui->comboBox_cameraImages_bayerMode->currentIndex()).toInt());
_ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool());
@@ -1962,6 +1980,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(settings.value("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex()).toInt());
_ui->lineEdit_cameraImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraImages_gt->text()).toString());
_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex()).toInt());
_ui->doubleSpinBox_maxPoseTimeDiff->setValue(settings.value("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value()).toDouble());
settings.endGroup(); // images
settings.beginGroup("Video");
@@ -2186,6 +2205,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text());
settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked());
settings.setValue(QString("showFrustums%1").arg(i), _3dRenderingShowFrustums[i]->isChecked());
settings.setValue(QString("downsamplingScan%1").arg(i), _3dRenderingDownsamplingScan[i]->value());
settings.setValue(QString("voxelSizeScan%1").arg(i), _3dRenderingVoxelSizeScan[i]->value());
@@ -2208,7 +2228,6 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("scanNormalRadiusSearch", _ui->doubleSpinBox_normalRadiusSearch_scan->value());
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showFrustums", _ui->checkBox_showFrustums->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked());
@@ -2322,12 +2341,14 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("path_rgb", _ui->lineEdit_cameraRGBDImages_path_rgb->text());
settings.setValue("path_depth", _ui->lineEdit_cameraRGBDImages_path_depth->text());
settings.setValue("scale", _ui->doubleSpinBox_cameraRGBDImages_scale->value());
settings.setValue("start_index", _ui->spinBox_cameraRGBDImages_startIndex->value());
settings.endGroup(); // RGBDImages
settings.beginGroup("StereoImages");
settings.setValue("path_left", _ui->lineEdit_cameraStereoImages_path_left->text());
settings.setValue("path_right", _ui->lineEdit_cameraStereoImages_path_right->text());
settings.setValue("rectify", _ui->checkBox_stereo_rectify->isChecked());
settings.setValue("start_index", _ui->spinBox_cameraStereoImages_startIndex->value());
settings.endGroup(); // StereoImages
settings.beginGroup("StereoVideo");
@@ -2350,7 +2371,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.beginGroup("Images");
settings.setValue("path", _ui->source_images_lineEdit_path->text());
settings.setValue("startPos", _ui->source_images_spinBox_startPos->value());
settings.setValue("refreshDir", _ui->source_images_refreshDir->isChecked());
settings.setValue("bayerMode", _ui->comboBox_cameraImages_bayerMode->currentIndex());
settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked());
settings.setValue("sync_stamps", _ui->checkBox_cameraImages_syncTimeStamps->isChecked());
@@ -2364,6 +2384,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex());
settings.setValue("gt_path", _ui->lineEdit_cameraImages_gt->text());
settings.setValue("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex());
settings.setValue("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value());
settings.endGroup(); // images
settings.beginGroup("Video");
@@ -4046,6 +4067,8 @@ void PreferencesDialog::useOdomFeatures()
_ui->surf_doubleSpinBox_maxDepth->setValue(_ui->loopClosure_bowMaxDepth->value());
_ui->surf_doubleSpinBox_minDepth->setValue(_ui->loopClosure_bowMinDepth->value());
_ui->surf_spinBox_wordsPerImageTarget->setValue(_ui->reextract_maxFeatures->value());
_ui->spinBox_KPGridRows->setValue(_ui->reextract_gridrows->value());
_ui->spinBox_KPGridCols->setValue(_ui->reextract_gridcols->value());
_ui->lineEdit_kp_roi->setText(_ui->loopClosure_roi->text());
_ui->subpix_winSize_kp->setValue(_ui->subpix_winSize->value());
_ui->subpix_iterations_kp->setValue(_ui->subpix_iterations->value());
@@ -4368,10 +4391,6 @@ bool PreferencesDialog::isGraphsShown() const
{
return _ui->checkBox_showGraphs->isChecked();
}
bool PreferencesDialog::isFrustumsShown() const
{
return _ui->checkBox_showFrustums->isEnabled() && _ui->checkBox_showFrustums->isChecked();
}
bool PreferencesDialog::isLabelsShown() const
{
return _ui->checkBox_showLabels->isChecked();
@@ -4471,6 +4490,11 @@ bool PreferencesDialog::isFeaturesShown(int index) const
UASSERT(index >= 0 && index <= 1);
return _3dRenderingShowFeatures[index]->isChecked();
}
bool PreferencesDialog::isFrustumsShown(int index) const
{
UASSERT(index >= 0 && index <= 1);
return _3dRenderingShowFrustums[index]->isEnabled() && _3dRenderingShowFrustums[index]->isChecked();
}
int PreferencesDialog::getFeaturesPointSize(int index) const
{
UASSERT(index >= 0 && index <= 1);
@@ -4812,9 +4836,11 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->doubleSpinBox_cameraRGBDImages_scale->value(),
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraRGBDImages*)camera)->setStartIndex(_ui->spinBox_cameraRGBDImages_startIndex->value());
((CameraRGBDImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraRGBDImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraRGBDImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraRGBDImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraImages_max_scan_pts->value(),
@@ -4858,9 +4884,11 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->checkBox_stereo_rectify->isChecked() && !useRawImages,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraStereoImages*)camera)->setStartIndex(_ui->spinBox_cameraStereoImages_startIndex->value());
((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
((CameraStereoImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraStereoImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraStereoImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraImages_max_scan_pts->value(),
@@ -4957,7 +4985,6 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
this->getSourceLocalTransform());
((CameraImages*)camera)->setStartIndex(_ui->source_images_spinBox_startPos->value());
((CameraImages*)camera)->setDirRefreshed(_ui->source_images_refreshDir->isChecked());
((CameraImages*)camera)->setImagesRectified(_ui->checkBox_rgb_rectify->isChecked() && !useRawImages);
((CameraImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
@@ -4967,6 +4994,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
((CameraImages*)camera)->setGroundTruthPath(
_ui->lineEdit_cameraImages_gt->text().toStdString(),
_ui->comboBox_cameraImages_gtFormat->currentIndex());
((CameraImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
((CameraImages*)camera)->setScanPath(
_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
_ui->spinBox_cameraImages_max_scan_pts->value(),
@@ -5076,10 +5104,6 @@ int PreferencesDialog::getOdomBufferSize() const
{
return _ui->odom_dataBufferSize->value();
}
bool PreferencesDialog::getRegVarianceFromInliersCount() const
{
return _ui->loopClosure_bowVarianceFromInliersCount->isChecked();
}
QString PreferencesDialog::getCameraInfoDir() const
{

526
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,15 +64,24 @@
<rect>
<x>0</x>
<y>0</y>
<width>673</width>
<height>2749</height>
<width>678</width>
<height>2739</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -86,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>23</number>
<number>20</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1641,6 +1650,16 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QCheckBox" name="checkBox_showOdomFrustums">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -2741,7 +2760,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>0</number>
<number>2</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2856,7 +2875,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>8</number>
<number>7</number>
</property>
<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
@@ -3612,7 +3631,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<spacer name="verticalSpacer_40">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -3625,6 +3644,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</spacer>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_441">
<property name="text">
<string>Start position (index).</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="QSpinBox" name="spinBox_cameraRGBDImages_startIndex">
<property name="maximum">
<number>9999999</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -3889,7 +3928,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<spacer name="verticalSpacer_38">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -3949,6 +3988,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_442">
<property name="text">
<string>Start position (index).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="spinBox_cameraStereoImages_startIndex">
<property name="maximum">
<number>9999999</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -4398,30 +4457,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Refresh the directory files list after each image loaded.</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="QCheckBox" name="source_images_refreshDir">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Start position (default 1, 0=start from the last).</string>
<string>Start position (index).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -4594,7 +4633,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="5" column="1">
<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (index)</string>
<string>Start position (index).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
@@ -4700,12 +4739,28 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
<item row="8" column="2">
<item row="4" column="1">
<widget class="QLineEdit" name="lineEdit_cameraImages_odom">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="label_293">
<property name="text">
<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
@@ -4791,7 +4846,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="10" column="2">
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="11" column="2">
<widget class="QLabel" name="label_292">
<property name="text">
<string>Maximum laser scan points.</string>
@@ -4817,20 +4879,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
<property name="text">
@@ -4838,6 +4886,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_251">
<property name="text">
@@ -4913,14 +4968,24 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="11" column="1">
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="maximum">
<number>99999999</number>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Format (3 values): x y z&lt;br/&gt;Format (6 values): x y z roll pitch yaw&lt;br/&gt;Format (7 values): x y z qx qy qz qw&lt;br/&gt;Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33&lt;br/&gt;Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz&lt;/p&gt;&lt;p&gt;KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
@@ -4930,7 +4995,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_294">
<property name="text">
<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
@@ -4943,16 +5008,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="maximum">
<number>99999999</number>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_265">
<property name="text">
@@ -5073,10 +5128,35 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="lineEdit_cameraImages_odom">
<item row="8" column="2">
<widget class="QLabel" name="label_443">
<property name="text">
<string/>
<string>Max time difference between data and corresponding pose for format with stamps. If delay is over this threshold, the pose won't be set on data loaded. This is used when odometry and/or ground truth files are set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxPoseTimeDiff">
<property name="suffix">
<string> s</string>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="maximum">
<double>9.990000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
@@ -6937,26 +7017,6 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="5" 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="5" column="0">
<widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_detector_strategy">
<item>
@@ -7011,6 +7071,26 @@ generate the number of words requested.</string>
</item>
</widget>
</item>
<item row="5" column="0">
<widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" 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="1" column="1">
<widget class="QLabel" name="label_53">
<property name="toolTip">
@@ -7179,6 +7259,70 @@ generate the number of words requested.</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_50">
<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>Number of rows of the grid used to extract uniformly &quot;max words / grid cells&quot; 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="10" 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="11" column="0">
<widget class="QSpinBox" name="spinBox_KPGridCols">
<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="11" column="1">
<widget class="QLabel" name="label_86">
<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>Number of columns of the grid used to extract uniformly &quot;max words / grid cells&quot; 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>
</layout>
</item>
<item>
@@ -10296,7 +10440,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QStackedWidget" name="stackedWidget_odometryType">
<property name="currentIndex">
<number>0</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -12010,6 +12154,67 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_444">
<property name="text">
<string>Camera FPS. This parameter is linked to &quot;Input rate&quot; of the Source panel.</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="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAM2Fps">
<property name="enabled">
<bool>false</bool>
</property>
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_445">
<property name="text">
<string>Maximum ORB features extracted per frame.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="spinBox_OdomORBSLAM2MaxFeatures">
<property name="maximum">
<number>99999</number>
</property>
<property name="value">
<number>1000</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -12617,7 +12822,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="2" column="1">
<widget class="QLabel" name="label_370">
<property name="text">
<string>Normalize covariance values. Position variances are multiplied by norm of the transform and orientation variances are multiplied by angle of the transform.</string>
<string>Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration. It can be useful if the registration approach used can use a guess to get better matches.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -12628,7 +12833,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="reg_varianceNormalized">
<widget class="QCheckBox" name="reg_repeatOnce">
<property name="text">
<string/>
</property>
@@ -12733,7 +12938,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item row="6" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_298">
<property name="text">
<string>Forward estimation only (A-&gt;B). If false, a transformation is also computed in backward direction (B-&gt;A), then the two resulting transforms are merged (middle interpolation between the transforms).</string>
@@ -12746,15 +12951,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="loopClosure_forwardEst">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="loopClosure_bowVarianceFromInliersCount">
<widget class="QCheckBox" name="loopClosure_forwardEst">
<property name="text">
<string/>
</property>
@@ -12799,19 +12997,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_262">
<property name="text">
<string>Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
@@ -12825,7 +13010,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="0">
<item row="6" column="0">
<widget class="QComboBox" name="loopClosure_bundle">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
@@ -12847,7 +13032,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item row="7" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_346">
<property name="text">
<string>Refine transformation with bundle adjustment. See Optimizer panel.</string>
@@ -12869,7 +13054,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
<widget class="QWidget" name="page_54">
<layout class="QVBoxLayout" name="verticalLayout_85">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -13009,7 +13203,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
<widget class="QWidget" name="page_55">
<layout class="QVBoxLayout" name="verticalLayout_86">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -13167,7 +13370,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -13247,7 +13459,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -13359,7 +13580,16 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -13619,6 +13849,58 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="reextract_gridrows">
<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="6" column="1">
<widget class="QLabel" name="label_438">
<property name="text">
<string>Number of rows of the grid used to extract uniformly &quot;max features / grid cells&quot; 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="7" column="1">
<widget class="QLabel" name="label_439">
<property name="text">
<string>Number of columns of the grid used to extract uniformly &quot;max features / grid cells&quot; 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="7" 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>
</layout>
</item>
<item>
@@ -14014,7 +14296,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
@@ -14812,10 +15094,18 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="stereo_minDisparity"/>
<widget class="QDoubleSpinBox" name="stereo_minDisparity">
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="stereo_maxDisparity"/>
<widget class="QDoubleSpinBox" name="stereo_maxDisparity">
<property name="maximum">
<double>9999.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>