mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 09:07:47 +08:00
Exposed all AprilTag parameters. Sharing Marker/Dictionary between opencv and apriltag implementation. Added new Marker/Lengths parameter.
This commit is contained in:
matlabbe
@@ -107,6 +107,13 @@ AboutDialog::AboutDialog(QWidget * parent) :
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_ui->label_fastcv->setText("No");
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_ui->label_fastcv_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_APRILTAG
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_ui->label_apriltag->setText("Yes");
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_ui->label_apriltag_license->setEnabled(true);
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#else
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_ui->label_apriltag->setText("No");
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_ui->label_apriltag_license->setEnabled(false);
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#endif
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#ifdef RTABMAP_PDAL
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_ui->label_pdal->setText("Yes");
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_ui->label_pdal_license->setEnabled(true);
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@@ -476,14 +476,23 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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#endif
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//if OpenCV < 3.4.2
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#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
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_ui->ArucoDictionary->setItemData(17, 0, Qt::UserRole - 1);
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_ui->ArucoDictionary->setItemData(18, 0, Qt::UserRole - 1);
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_ui->ArucoDictionary->setItemData(19, 0, Qt::UserRole - 1);
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_ui->ArucoDictionary->setItemData(20, 0, Qt::UserRole - 1);
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#if !defined(RTABMAP_APRILTAG) && (CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2))))
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_ui->MarkerDictionary->setItemData(17, 0, Qt::UserRole - 1);
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_ui->MarkerDictionary->setItemData(18, 0, Qt::UserRole - 1);
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_ui->MarkerDictionary->setItemData(19, 0, Qt::UserRole - 1);
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_ui->MarkerDictionary->setItemData(20, 0, Qt::UserRole - 1);
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#endif
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#if !defined(RTABMAP_APRILTAG) && (CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <8))
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_ui->MarkerDictionary->setItemData(21, 0, Qt::UserRole - 1);
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#endif
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#if !defined(HAVE_OPENCV_ARUCO) && !defined(RTABMAP_APRILTAG)
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_ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module and/or RTAB-Map has been built with AprilTag library support.");
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#endif
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#ifndef HAVE_OPENCV_ARUCO
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_ui->label_markerDetection->setText(_ui->label_markerDetection->text()+" This option works only if OpenCV has been built with \"aruco\" module.");
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_ui->MarkerStrategy->setItemData(0, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_APRILTAG
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_ui->MarkerStrategy->setItemData(1, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_MADGWICK
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@@ -1752,6 +1761,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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// Aruco marker
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_ui->MarkerStrategy->setObjectName(Parameters::kMarkerStrategy().c_str());
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connect(_ui->MarkerStrategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_markerStrategy, SLOT(setCurrentIndex(int)));
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_ui->MarkerStrategy->setCurrentIndex(Parameters::defaultMarkerStrategy());
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_ui->MarkerDictionary->setObjectName(Parameters::kMarkerDictionary().c_str());
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_ui->ArucoMarkerLength->setObjectName(Parameters::kMarkerLength().c_str());
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_ui->ArucoMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str());
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@@ -1763,7 +1774,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->ArucoMarkerPriors->setObjectName(Parameters::kMarkerPriors().c_str());
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_ui->ArucoPriorsVarianceLinear->setObjectName(Parameters::kMarkerPriorsVarianceLinear().c_str());
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_ui->ArucoPriorsVarianceAngular->setObjectName(Parameters::kMarkerPriorsVarianceAngular().c_str());
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_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kMarkerCornerRefinementMethod().c_str());
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_ui->ArucoCornerRefinementMethod->setObjectName(Parameters::kMarkerOpenCVCornerRefinementMethod().c_str());
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_ui->apriltag_nthreads->setObjectName(Parameters::kMarkerAprilTagNThreads().c_str());
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_ui->apriltag_quad_decimate->setObjectName(Parameters::kMarkerAprilTagQuadDecimate().c_str());
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_ui->apriltag_quad_sigma->setObjectName(Parameters::kMarkerAprilTagQuadSigma().c_str());
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_ui->apriltag_refine_edges->setObjectName(Parameters::kMarkerAprilTagRefineEdges().c_str());
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_ui->apriltag_decode_sharpening->setObjectName(Parameters::kMarkerAprilTagDecodeSharpening().c_str());
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_ui->apriltag_debug->setObjectName(Parameters::kMarkerAprilTagDebug().c_str());
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// IMU filter
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_ui->doubleSpinBox_imuFilterMadgwickGain->setObjectName(Parameters::kImuFilterMadgwickGain().c_str());
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@@ -3939,15 +3956,25 @@ bool PreferencesDialog::validateForm()
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_ui->checkbox_odomDisabled->setChecked(false);
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}
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#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
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if(_ui->ArucoDictionary->currentIndex()>=17)
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{
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("ArUco dictionary: cannot select AprilTag dictionary, OpenCV version should be at least 3.4.2. Setting back to 0."));
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_ui->ArucoDictionary->setCurrentIndex(0);
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}
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#endif
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if(_ui->MarkerStrategy->currentIndex() == 0)
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{
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#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION <4 || (CV_MINOR_VERSION ==4 && CV_SUBMINOR_VERSION<2)))
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if(_ui->MarkerDictionary->currentIndex()>=17)
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{
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("opencv-aruco: cannot use the selected dictionary (%1), OpenCV version should be at least 3.4.2. Setting back to 0.").arg(_ui->MarkerDictionary->currentIndex()));
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_ui->MarkerDictionary->setCurrentIndex(0);
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}
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#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <8)
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if(_ui->MarkerDictionary->currentIndex()>=21)
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{
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("opencv-aruco: cannot use selected dictionary (%1), OpenCV version should be at least 4.8.0. Setting back to 0.").arg(_ui->MarkerDictionary->currentIndex()));
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_ui->MarkerDictionary->setCurrentIndex(0);
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}
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#endif
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}
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return true;
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}
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+1524
-1491
File diff suppressed because it is too large
Load Diff
+506
-327
@@ -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>-700</y>
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<y>-526</y>
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<width>684</width>
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<height>5218</height>
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</rect>
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@@ -15505,7 +15505,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</layout>
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</widget>
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<widget class="QWidget" name="page_78">
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<layout class="QVBoxLayout" name="verticalLayout_137">
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<layout class="QVBoxLayout" name="verticalLayout_137" stretch="0,1">
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<item>
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<widget class="QGroupBox" name="groupBox_markerDetection2">
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<property name="title">
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@@ -15514,10 +15514,69 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<layout class="QVBoxLayout" name="verticalLayout_136">
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<item>
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<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
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<item row="9" column="1">
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<widget class="QLabel" name="label_space2_14">
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<item row="1" column="0">
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<widget class="QComboBox" name="MarkerStrategy">
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<item>
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<property name="text">
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<string>opencv-aruco</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>apriltag</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="8" column="0">
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<widget class="QCheckBox" name="ArucoVarianceOrientationIgnored">
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<property name="text">
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<string>Maximum detection range (0=unlimited).</string>
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<string/>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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||||
<property name="minimum">
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||||
<double>0.000001000000000</double>
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</property>
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||||
<property name="singleStep">
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<double>0.001000000000000</double>
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||||
</property>
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||||
<property name="value">
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||||
<double>0.001000000000000</double>
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</property>
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||||
</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="ArucoMarkerLength">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>4</number>
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</property>
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||||
<property name="minimum">
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||||
<double>-1.000000000000000</double>
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||||
</property>
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||||
<property name="singleStep">
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||||
<double>0.010000000000000</double>
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||||
</property>
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||||
<property name="value">
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||||
<double>0.100000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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<item row="11" column="1">
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<widget class="QLabel" name="label_space2_15">
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<property name="text">
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<string>World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), markers are separated by a vertical line ("id1 x y z roll pitch yaw|id2 x y z roll pitch yaw"). Example: "1 0 0 1 0 0 0|2 1 0 1 0 0 1.57" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -15527,7 +15586,68 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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||||
<item row="12" column="0">
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||||
<item row="10" column="0">
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||||
<widget class="QDoubleSpinBox" name="ArucoMarkerRangeMax">
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||||
<property name="suffix">
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||||
<string> m</string>
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||||
</property>
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||||
<property name="decimals">
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||||
<number>2</number>
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||||
</property>
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||||
<property name="minimum">
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||||
<double>0.000000000000000</double>
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||||
</property>
|
||||
<property name="maximum">
|
||||
<double>999.000000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_space2_9">
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||||
<property name="text">
|
||||
<string>Angular variance to set on marker detections. If variance is adjusted to ignore orientation (see below), the angular variance is ignored with Optimizer/Strategy=1 (g2o) and it corresponds to bearing variance with Optimizer/Strategy=2 (GTSAM).</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
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||||
<widget class="QLabel" name="label_space2_7">
|
||||
<property name="text">
|
||||
<string>Marker length. The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_space2_16">
|
||||
<property name="text">
|
||||
<string>Linear variance to set on marker priors.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoPriorsVarianceAngular">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -15549,97 +15669,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_space2_15">
|
||||
<property name="text">
|
||||
<string>World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), markers are separated by a vertical line ("id1 x y z roll pitch yaw|id2 x y z roll pitch yaw"). Example: "1 0 0 1 0 0 0|2 1 0 1 0 0 1.57" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).</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="1">
|
||||
<widget class="QLabel" name="label_space2_6">
|
||||
<property name="text">
|
||||
<string>Linear variance to set on marker detections. If variance is adjusted to ignore orientation (see below) and Optimizer/Strategy=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.</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="QLabel" name="label_space2_13">
|
||||
<property name="text">
|
||||
<string>Minimum detection range (0=disabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_space2_17">
|
||||
<property name="text">
|
||||
<string>Angular variance to set on marker priors.</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="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>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_space2_10">
|
||||
<property name="text">
|
||||
<string>Dictionary to use.</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="QLineEdit" name="ArucoMarkerPriors">
|
||||
<property name="placeholderText">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QComboBox" name="MarkerDictionary">
|
||||
<item>
|
||||
@@ -15749,10 +15778,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_space2_7">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_space2_10">
|
||||
<property name="text">
|
||||
<string>Marker length. The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.</string>
|
||||
<string>Dictionary to use.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -15762,138 +15791,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_space2_9">
|
||||
<property name="text">
|
||||
<string>Angular variance to set on marker detections. If variance is adjusted to ignore orientation (see below), the angular variance is ignored with Optimizer/Strategy=1 (g2o) and it corresponds to bearing variance with Optimizer/Strategy=2 (GTSAM).</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="11" column="1">
|
||||
<widget class="QLabel" name="label_space2_16">
|
||||
<property name="text">
|
||||
<string>Linear variance to set on marker priors.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoMarkerRangeMax">
|
||||
<property name="suffix">
|
||||
<string> m</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="11" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoPriorsVarianceLinear">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000001000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="ArucoVarianceOrientationIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" 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="7" column="1">
|
||||
<widget class="QLabel" name="label_space2_20">
|
||||
<property name="toolTip">
|
||||
<string>When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for Optimizer/Strategy=1 (g2o), only Marker/VarianceLinear needs be set if we ignore orientation. For Optimizer/Strategy=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with Marker/VarianceLinear as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and Marker/VarianceAngular as the variance of the bearing factor (pitch/yaw).</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Adjust variance to ignore orientation during optimization. Mouseover for more details.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoVarianceAngular">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000001000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_markerDetection">
|
||||
<property name="text">
|
||||
@@ -15907,26 +15804,56 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_space2_6">
|
||||
<property name="text">
|
||||
<string>Linear variance to set on marker detections. If variance is adjusted to ignore orientation (see below) and Optimizer/Strategy=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000001000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QLineEdit" name="ArucoMarkerPriors">
|
||||
<property name="placeholderText">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_space2_17">
|
||||
<property name="text">
|
||||
<string>Angular variance to set on marker priors.</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="QLabel" name="label_space2_20">
|
||||
<property name="toolTip">
|
||||
<string>When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for Optimizer/Strategy=1 (g2o), only Marker/VarianceLinear needs be set if we ignore orientation. For Optimizer/Strategy=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with Marker/VarianceLinear as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and Marker/VarianceAngular as the variance of the bearing factor (pitch/yaw).</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Adjust variance to ignore orientation during optimization. Mouseover for more details.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoMarkerRangeMin">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -15948,8 +15875,47 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoMarkerLength">
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_space2_13">
|
||||
<property name="text">
|
||||
<string>Minimum detection range (0=disabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_space2_14">
|
||||
<property name="text">
|
||||
<string>Maximum detection range (0=unlimited).</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="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="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoMaxDepthError">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
@@ -15957,7 +15923,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1.000000000000000</double>
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
@@ -15967,18 +15933,30 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="MarkerStrategy">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>opencv-aruco</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>apriltag</string>
|
||||
</property>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="RGBDMarkerDetection">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoPriorsVarianceLinear">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000001000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
@@ -15994,77 +15972,278 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoVarianceAngular">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000001000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLineEdit" name="ArucoMarkerLengths">
|
||||
<property name="placeholderText">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_space2_25">
|
||||
<property name="text">
|
||||
<string>List of markers to detect. Format is the marker's ID followed by its length (in meters), markers are separated by a vertical line ("id1 length|id2 length"). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on Marker Length. For example, to detect only markers 12 and 14 with lengths of 8 and 15 cm respectively, set "12 0.08|14 0.15".</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_31">
|
||||
<property name="title">
|
||||
<string>OpenCV</string>
|
||||
<widget class="QStackedWidget" name="stackedWidget_markerStrategy">
|
||||
<property name="currentIndex">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_106" columnstretch="0,1">
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="ArucoCornerRefinementMethod">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>None</string>
|
||||
<widget class="QWidget" name="page_104">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_189">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_opencv_aruco">
|
||||
<property name="title">
|
||||
<string>OpenCV</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Subpixel</string>
|
||||
<layout class="QGridLayout" name="gridLayout_106" columnstretch="0,1">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_space2_11">
|
||||
<property name="text">
|
||||
<string>Corner refinement method.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="ArucoCornerRefinementMethod">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>None</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Subpixel</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Contour</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>AprilTag 2</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<spacer name="verticalSpacer_94">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_105">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_190">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_apriltag">
|
||||
<property name="title">
|
||||
<string>AprilTag</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Contour</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>AprilTag 2</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_space2_11">
|
||||
<property name="text">
|
||||
<string>Corner refinement method.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_43">
|
||||
<property name="title">
|
||||
<string>AprilTag</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_140" columnstretch="0,1">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_space2_22">
|
||||
<property name="text">
|
||||
<string>nthreads.</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="QSpinBox" name="apriltag_nthreads"/>
|
||||
</item>
|
||||
</layout>
|
||||
<layout class="QGridLayout" name="gridLayout_140" columnstretch="0,1">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_space2_28">
|
||||
<property name="text">
|
||||
<string>decode_sharpening: How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_space2_22">
|
||||
<property name="text">
|
||||
<string>nthreads: How many threads should be used?</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="QSpinBox" name="apriltag_nthreads">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_space2_23">
|
||||
<property name="text">
|
||||
<string>quad_decimate: Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_space2_27">
|
||||
<property name="text">
|
||||
<string>refine_edges: When true, the edges of the each quad are adjusted to "snap to" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if quad_decimate = 1.</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_space2_26">
|
||||
<property name="text">
|
||||
<string>quad_sigma: What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).</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="1">
|
||||
<widget class="QLabel" name="label_space2_29">
|
||||
<property name="text">
|
||||
<string>debug: When true, write a variety of debugging images to the working directory where the app started (not RTAB-Map's working directory) at various stages through the detection process. (Somewhat slow).</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="QCheckBox" name="apriltag_debug">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="apriltag_refine_edges">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="apriltag_decode_sharpening">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.250000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="apriltag_quad_sigma">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.900000000000006</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="apriltag_quad_decimate">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>2</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user