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Added Aruco/MaxDepthError parameter

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This commit is contained in:
matlabbe
2019-03-01 18:34:49 -05:00
parent c272f9538a
commit 530da08145
5 changed files with 73 additions and 80 deletions
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1
guilib/src/PreferencesDialog.cpp
View File

@@ -1219,6 +1219,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Aruco marker
_ui->ArucoDictionary->setObjectName(Parameters::kArucoDictionary().c_str());
_ui->ArucoMarkerLength->setObjectName(Parameters::kArucoMarkerLength().c_str());
_ui->ArucoMaxDepthError->setObjectName(Parameters::kArucoMaxDepthError().c_str());
_ui->ArucoVarianceLinear->setObjectName(Parameters::kArucoVarianceLinear().c_str());
_ui->ArucoVarianceAngular->setObjectName(Parameters::kArucoVarianceAngular().c_str());
_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kArucoCornerRefinementMethod().c_str());

137
guilib/src/ui/preferencesDialog.ui
View File

@@ -95,24 +95,15 @@
<rect>
<x>0</x>
<y>0</y>
<width>680</width>
<height>3008</height>
<width>673</width>
<height>3038</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -5173,16 +5164,7 @@ 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="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -11139,27 +11121,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_136">
<item>
<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
<item row="3" column="1">
<widget class="QLabel" name="label_space2_9">
<property name="text">
<string>Angular variance to set on marker detections. Set to &gt;=9999 to use only position (xyz) constraint in graph optimization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="RGBDMarkerDetection">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
<property name="suffix">
<string/>
@@ -11191,7 +11153,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_space2_6">
<property name="text">
<string>Linear variance to set on marker detections.</string>
@@ -11217,7 +11179,27 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="1">
<widget class="QLabel" name="label_space2_9">
<property name="text">
<string>Angular variance to set on marker detections. Set to &gt;=9999 to use only position (xyz) constraint in graph optimization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="RGBDMarkerDetection">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="ArucoVarianceAngular">
<property name="suffix">
<string/>
@@ -11258,6 +11240,38 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_space2_8">
<property name="text">
<string>Maximum depth error between all corners of a marker when estimating the marker length (when marker length above is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.</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="QDoubleSpinBox" name="ArucoMaxDepthError">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -15819,16 +15833,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -15908,16 +15913,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -16029,16 +16025,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>