mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 17:17:47 +08:00
Added Vis/PnPSplitLinearCovComponents parameter (default false -> same as before)
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<y>-1092</y>
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<width>713</width>
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<height>3933</height>
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</rect>
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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>8</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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@@ -21292,10 +21292,10 @@ 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="1" column="1">
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<widget class="QLabel" name="label_235">
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<item row="0" column="1">
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<widget class="QLabel" name="label_655">
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<property name="text">
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<string>Flags.</string>
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<string>Reprojection error.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -21305,25 +21305,6 @@ 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="5" 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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<item>
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<property name="text">
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<string>HOMOGENEOUS</string>
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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="QComboBox" name="loopClosure_pnpFlags">
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<item>
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@@ -21343,45 +21324,67 @@ Lower the ratio -> higher the precision.</string>
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</item>
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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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<item row="5" 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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<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="0" column="1">
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<widget class="QLabel" name="label_655">
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<property name="text">
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<string>Reprojection error.</string>
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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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<string> pix</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>1</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>
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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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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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<double>0.100000000000000</double>
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</property>
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<property name="singleStep">
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<number>1</number>
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<number>1</number>
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<double>8.000000000000000</double>
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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="3" column="1">
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<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_4">
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<property name="text">
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<string>Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.</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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@@ -21407,25 +21410,6 @@ 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="0" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_pnpReprojError">
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<property name="suffix">
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<string> pix</string>
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</property>
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="minimum">
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<double>0.100000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>8.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_3">
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<property name="text">
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@@ -21439,19 +21423,6 @@ 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="0" column="1">
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<widget class="QLabel" name="label_656">
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<property name="text">
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<string>Reprojection error.</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="4" 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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@@ -21465,10 +21436,10 @@ 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_4">
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<item row="0" column="1">
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<widget class="QLabel" name="label_656">
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<property name="text">
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<string>Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.</string>
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<string>Reprojection error.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -21491,6 +21462,55 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="2" column="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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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>1</number>
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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_loopClosure_pnpOpenCV2_5">
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<property name="text">
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<string>Compute variance for each linear component instead of using the combined XYZ variance for all linear components.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QCheckBox" name="loopClosure_pnpSplitLinearCovComponents">
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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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</layout>
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</widget>
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</item>
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