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Added OptimizerCeres class (Optimizer/Strategy=3)

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This commit is contained in:
matlabbe
2019-08-17 03:55:04 -04:00
parent 38044040a6
commit 536f001479
29 changed files with 1982 additions and 284 deletions
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2
guilib/src/AboutDialog.cpp
View File

@@ -118,6 +118,8 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_gtsam_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeGTSAM)?true:false);
_ui->label_cvsba->setText(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?"Yes":"No");
_ui->label_cvsba_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeCVSBA)?true:false);
_ui->label_ceres->setText(Optimizer::isAvailable(Optimizer::kTypeCeres)?"Yes":"No");
_ui->label_ceres_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeCeres)?true:false);
#ifdef RTABMAP_POINTMATCHER
_ui->label_libpointmatcher->setText("Yes");

57
guilib/src/PostProcessingDialog.cpp
View File

@@ -40,20 +40,30 @@ PostProcessingDialog::PostProcessingDialog(QWidget * parent) :
_ui = new Ui_PostProcessingDialog();
_ui->setupUi(this);
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA) && !Optimizer::isAvailable(Optimizer::kTypeG2O))
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA) &&
!Optimizer::isAvailable(Optimizer::kTypeG2O) &&
!Optimizer::isAvailable(Optimizer::kTypeCeres))
{
_ui->sba->setEnabled(false);
_ui->sba->setChecked(false);
}
else if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA))
else
{
_ui->comboBox_sbaType->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(0);
}
else if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->comboBox_sbaType->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
if(!Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
_ui->comboBox_sbaType->setItemData(1, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(0);
}
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
_ui->comboBox_sbaType->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
}
if(!Optimizer::isAvailable(Optimizer::kTypeCeres))
{
_ui->comboBox_sbaType->setItemData(2, 0, Qt::UserRole - 1);
_ui->comboBox_sbaType->setCurrentIndex(1);
}
}
restoreDefaults();
@@ -191,7 +201,19 @@ void PostProcessingDialog::restoreDefaults()
setRefineLoopClosureLinks(false);
setSBA(false);
setSBAIterations(20);
setSBAType(!Optimizer::isAvailable(Optimizer::kTypeG2O)&&Optimizer::isAvailable(Optimizer::kTypeCVSBA)?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O);
Optimizer::Type sbaType = Optimizer::kTypeG2O; // g2o
if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
{
if(Optimizer::isAvailable(Optimizer::kTypeCVSBA))
{
sbaType = Optimizer::kTypeCVSBA;
}
else if(Optimizer::isAvailable(Optimizer::kTypeCeres))
{
sbaType = Optimizer::kTypeCeres;
}
}
setSBAType(sbaType);
setSBAVariance(1.0);
setSBARematchFeatures(true);
}
@@ -244,7 +266,7 @@ bool PostProcessingDialog::isRefineLoopClosureLinks() const
bool PostProcessingDialog::isSBA() const
{
return _ui->sba->isChecked();
return _ui->sba->isEnabled() && _ui->sba->isChecked();
}
int PostProcessingDialog::sbaIterations() const
@@ -257,7 +279,7 @@ double PostProcessingDialog::sbaVariance() const
}
Optimizer::Type PostProcessingDialog::sbaType() const
{
return _ui->comboBox_sbaType->currentIndex()==0?Optimizer::kTypeG2O:Optimizer::kTypeCVSBA;
return _ui->comboBox_sbaType->currentIndex()==2?Optimizer::kTypeCeres:_ui->comboBox_sbaType->currentIndex()==1?Optimizer::kTypeCVSBA:Optimizer::kTypeG2O;
}
bool PostProcessingDialog::sbaRematchFeatures() const
{
@@ -299,7 +321,10 @@ void PostProcessingDialog::setRefineLoopClosureLinks(bool on)
}
void PostProcessingDialog::setSBA(bool on)
{
_ui->sba->setChecked((Optimizer::isAvailable(Optimizer::kTypeCVSBA) || Optimizer::isAvailable(Optimizer::kTypeG2O)) && on);
_ui->sba->setChecked((
Optimizer::isAvailable(Optimizer::kTypeCVSBA) ||
Optimizer::isAvailable(Optimizer::kTypeG2O) ||
Optimizer::isAvailable(Optimizer::kTypeCeres)) && on);
}
void PostProcessingDialog::setSBAIterations(int iterations)
{
@@ -311,7 +336,11 @@ void PostProcessingDialog::setSBAVariance(double variance)
}
void PostProcessingDialog::setSBAType(Optimizer::Type type)
{
if(type == Optimizer::kTypeCVSBA)
if(type == Optimizer::kTypeCeres)
{
_ui->comboBox_sbaType->setCurrentIndex(2);
}
else if(type == Optimizer::kTypeCVSBA)
{
_ui->comboBox_sbaType->setCurrentIndex(1);
}

20
guilib/src/PreferencesDialog.cpp
View File

@@ -262,6 +262,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_f2m_bundleStrategy->setItemData(2, 0, Qt::UserRole - 1);
_ui->loopClosure_bundle->setItemData(2, 0, Qt::UserRole - 1);
}
if(!Optimizer::isAvailable(Optimizer::kTypeCeres))
{
_ui->graphOptimization_type->setItemData(3, 0, Qt::UserRole - 1);
_ui->odom_f2m_bundleStrategy->setItemData(3, 0, Qt::UserRole - 1);
_ui->loopClosure_bundle->setItemData(3, 0, Qt::UserRole - 1);
}
#ifdef RTABMAP_VERTIGO
if(!Optimizer::isAvailable(Optimizer::kTypeG2O) && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
#endif
@@ -2943,6 +2949,13 @@ bool PreferencesDialog::validateForm()
"with cvsba. Bundle adjustment is disabled."));
_ui->loopClosure_bundle->setCurrentIndex(0);
}
if(_ui->loopClosure_bundle->currentIndex() == 3 && !Optimizer::isAvailable(Optimizer::kTypeCeres))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected visual registration bundle adjustment optimization strategy (Ceres) is not available. RTAB-Map is not built "
"with cERES. Bundle adjustment is disabled."));
_ui->loopClosure_bundle->setCurrentIndex(0);
}
// Local bundle adjustment strategy for odometry F2M
if(_ui->odom_f2m_bundleStrategy->currentIndex() == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O))
@@ -2959,6 +2972,13 @@ bool PreferencesDialog::validateForm()
"with cvsba. Bundle adjustment is disabled."));
_ui->odom_f2m_bundleStrategy->setCurrentIndex(0);
}
if(_ui->odom_f2m_bundleStrategy->currentIndex() == 3 && !Optimizer::isAvailable(Optimizer::kTypeCeres))
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected odometry local bundle adjustment optimization strategy (Ceres) is not available. RTAB-Map is not built "
"with Ceres. Bundle adjustment is disabled."));
_ui->odom_f2m_bundleStrategy->setCurrentIndex(0);
}
// verify that Robust and Reject threshold are not set at the same time
if(_ui->graphOptimization_robust->isChecked() && _ui->graphOptimization_maxError->value()>0.0)

349
guilib/src/ui/aboutDialog.ui
View File

@@ -162,9 +162,9 @@ p, li { white-space: pre-wrap; }
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-243</y>
<width>597</width>
<height>751</height>
<height>774</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
@@ -185,7 +185,27 @@ p, li { white-space: pre-wrap; }
</property>
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="25" column="2">
<item row="14" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="26" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="26" column="2">
<widget class="QLabel" name="label_fovis_license">
<property name="text">
<string>GPLv2</string>
@@ -231,7 +251,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="0">
<item row="30" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>With OKVIS :</string>
@@ -241,7 +261,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="1">
<item row="28" column="1">
<widget class="QLabel" name="label_dvo">
<property name="text">
<string/>
@@ -287,7 +307,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="1">
<item row="30" column="1">
<widget class="QLabel" name="label_okvis">
<property name="text">
<string/>
@@ -300,7 +320,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="0">
<item row="32" column="0">
<widget class="QLabel" name="label_34">
<property name="text">
<string>With MSCKF :</string>
@@ -310,7 +330,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="1">
<item row="23" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
@@ -323,7 +343,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="1">
<item row="32" column="1">
<widget class="QLabel" name="label_msckf">
<property name="text">
<string/>
@@ -336,6 +356,16 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_openni2_license">
<property name="text">
<string>Apache v2</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_pcl_license">
<property name="text">
@@ -369,7 +399,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="0">
<item row="24" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
@@ -389,7 +419,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="0">
<item row="27" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
@@ -399,7 +429,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="0">
<item row="29" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>With ORB SLAM 2 :</string>
@@ -419,27 +449,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="28" column="1">
<item row="29" column="1">
<widget class="QLabel" name="label_orbslam2">
<property name="text">
<string/>
@@ -462,7 +472,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="2">
<item row="27" column="2">
<widget class="QLabel" name="label_viso2_license">
<property name="text">
<string>GPLv3</string>
@@ -482,6 +492,16 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="17" column="0">
<widget class="QLabel" name="label_77">
<property name="text">
@@ -492,7 +512,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="1">
<item row="26" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
<string/>
@@ -505,17 +525,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="22" column="2">
<item row="23" column="2">
<widget class="QLabel" name="label_octomap_license">
<property name="text">
<string>BSD</string>
@@ -525,19 +535,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_flycapture2">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
@@ -548,8 +545,8 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="1">
<widget class="QLabel" name="label_cputsdf">
<item row="13" column="1">
<widget class="QLabel" name="label_flycapture2">
<property name="text">
<string/>
</property>
@@ -581,6 +578,19 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
@@ -601,6 +611,16 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="20" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
@@ -614,10 +634,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QLabel" name="label_14">
<item row="7" column="2">
<widget class="QLabel" name="label_freenect_license">
<property name="text">
<string>With g2o :</string>
<string>Apache v2 and/or GPLv2</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -650,10 +670,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_freenect_license">
<item row="19" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Apache v2 and/or GPLv2</string>
<string>With GTSAM :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -673,26 +693,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_openni2_license">
<property name="text">
<string>Apache v2</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_opencv_license">
<property name="text">
@@ -703,6 +703,16 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_freenect">
<property name="text">
@@ -726,10 +736,10 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_12">
<item row="22" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>With Freenect :</string>
<string>With libpointmatcher :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -762,16 +772,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>With libpointmatcher :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_freenect2">
<property name="text">
@@ -785,19 +785,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_realsense">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_33">
<property name="text">
@@ -808,7 +795,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="2">
<item row="32" column="2">
<widget class="QLabel" name="label_msckf_license">
<property name="text">
<string>Penn Software License</string>
@@ -818,18 +805,8 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="2">
<widget class="QLabel" name="label_dvo_license">
<property name="text">
<string>GPLv3</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_orboctree">
<item row="10" column="1">
<widget class="QLabel" name="label_realsense">
<property name="text">
<string/>
</property>
@@ -841,7 +818,17 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="0">
<item row="28" column="2">
<widget class="QLabel" name="label_dvo_license">
<property name="text">
<string>GPLv3</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="31" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>With loam_velodyne :</string>
@@ -861,8 +848,8 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="1">
<widget class="QLabel" name="label_openchisel">
<item row="5" column="1">
<widget class="QLabel" name="label_orboctree">
<property name="text">
<string/>
</property>
@@ -874,8 +861,8 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="1">
<widget class="QLabel" name="label_libpointmatcher">
<item row="25" column="1">
<widget class="QLabel" name="label_openchisel">
<property name="text">
<string/>
</property>
@@ -897,7 +884,20 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="1">
<item row="22" column="1">
<widget class="QLabel" name="label_libpointmatcher">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="31" column="1">
<widget class="QLabel" name="label_loam">
<property name="text">
<string/>
@@ -920,7 +920,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="0">
<item row="28" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>With DVO :</string>
@@ -930,7 +930,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="1">
<item row="27" column="1">
<widget class="QLabel" name="label_viso2">
<property name="text">
<string/>
@@ -943,6 +943,26 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="2">
<widget class="QLabel" name="label_orbslam2_license">
<property name="text">
<string>GPLv3</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="25" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>With OpenChisel :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_32">
<property name="text">
@@ -956,26 +976,6 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="2">
<widget class="QLabel" name="label_orbslam2_license">
<property name="text">
<string>GPLv3</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="24" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>With OpenChisel :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="17" column="1">
<widget class="QLabel" name="label_toro">
<property name="text">
@@ -999,7 +999,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="2">
<item row="30" column="2">
<widget class="QLabel" name="label_okvis_license">
<property name="text">
<string>BSD</string>
@@ -1009,7 +1009,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="2">
<item row="31" column="2">
<widget class="QLabel" name="label_loam_license">
<property name="text">
<string>BSD</string>
@@ -1039,7 +1039,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="2">
<item row="22" column="2">
<widget class="QLabel" name="label_libpointmatcher_license">
<property name="text">
<string>BSD</string>
@@ -1049,7 +1049,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="2">
<item row="24" column="2">
<widget class="QLabel" name="label_cputsdf_license">
<property name="text">
<string>BSD</string>
@@ -1191,6 +1191,39 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>With Ceres :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="21" column="2">
<widget class="QLabel" name="label_ceres_license">
<property name="text">
<string>BSD</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="21" column="1">
<widget class="QLabel" name="label_ceres">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>

5
guilib/src/ui/postProcessingDialog.ui
View File

@@ -292,6 +292,11 @@
<string>cvsba</string>
</property>
</item>
<item>
<property name="text">
<string>Ceres</string>
</property>
</item>
</widget>
</item>
<item row="3" column="1">

19
guilib/src/ui/preferencesDialog.ui
View File

@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>29</number>
<number>16</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -10354,6 +10354,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>GTSAM</string>
</property>
</item>
<item>
<property name="text">
<string>Ceres</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
@@ -12703,7 +12708,7 @@ 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>9</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -12885,6 +12890,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>cvsba</string>
</property>
</item>
<item>
<property name="text">
<string>Ceres</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
@@ -16569,6 +16579,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>cvsba</string>
</property>
</item>
<item>
<property name="text">
<string>Ceres</string>
</property>
</item>
</widget>
</item>
<item row="6" column="1">