mirror of
https://github.com/introlab/rtabmap.git
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Add params to filter out poor stereo flow matches (#1667)
* Add params to filter out poor stereo flow matches * Added parameters: Vis/CorFlowUseMinEigenVals, Vis/CorFlowMinEigThreshold, Vis/CorFlowErrorThreshold. Renamed Stereo/GetMinEigenVals to Stereo/UseMinEigenVals * Setting suggested default value of 20 for Vis/CorFlowErrorThreshold --------- Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Borong Yuan
@@ -740,8 +740,11 @@ class RTABMAP_CORE_EXPORT Parameters
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RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
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RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
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RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
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RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kVisCorType().c_str()));
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#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
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RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals, bool, true, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
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RTABMAP_PARAM(Vis, CorFlowMinEigThreshold, float, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
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RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
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RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
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#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
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RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
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#else
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RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
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@@ -818,7 +821,10 @@ class RTABMAP_CORE_EXPORT Parameters
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RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
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RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
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RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
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RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kStereoOpticalFlow().c_str()));
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RTABMAP_PARAM(Stereo, UseMinEigenVals, bool, true, uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
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RTABMAP_PARAM(Stereo, MinEigThreshold, double, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
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RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
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RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
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RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
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@@ -91,6 +91,9 @@ private:
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float _flowEps;
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int _flowMaxLevel;
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bool _flowGpu;
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bool _flowUseMinEigenVals;
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float _flowMinEigThreshold;
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float _flowErrorThreshold;
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float _nndr;
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int _nnType;
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bool _gmsWithRotation;
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@@ -96,16 +96,23 @@ public:
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#endif
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float epsilon() const {return epsilon_;}
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bool usingMinEigenVals() const {return useMinEigenVals_;}
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float minEigThreshold() const {return minEigThreshold_;}
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float errorThreshold() const {return errorThreshold_;}
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virtual bool isGpuEnabled() const;
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private:
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void updateStatus(
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const std::vector<cv::Point2f> & leftCorners,
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const std::vector<cv::Point2f> & rightCorners,
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std::vector<unsigned char> & status) const;
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std::vector<unsigned char> & status,
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std::vector<float> err = {}) const;
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private:
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float epsilon_;
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bool useMinEigenVals_;
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float minEigThreshold_;
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float errorThreshold_;
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bool gpu_;
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};
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@@ -84,6 +84,9 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
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_flowEps(Parameters::defaultVisCorFlowEps()),
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_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel()),
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_flowGpu(Parameters::defaultVisCorFlowGpu()),
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_flowUseMinEigenVals(Parameters::defaultVisCorFlowUseMinEigenVals()),
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_flowMinEigThreshold(Parameters::defaultVisCorFlowMinEigThreshold()),
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_flowErrorThreshold(Parameters::defaultVisCorFlowErrorThreshold()),
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_nndr(Parameters::defaultVisCorNNDR()),
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_nnType(Parameters::defaultVisCorNNType()),
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_gmsWithRotation(Parameters::defaultGMSWithRotation()),
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@@ -145,6 +148,9 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
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Parameters::parse(parameters, Parameters::kVisCorFlowEps(), _flowEps);
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Parameters::parse(parameters, Parameters::kVisCorFlowMaxLevel(), _flowMaxLevel);
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Parameters::parse(parameters, Parameters::kVisCorFlowGpu(), _flowGpu);
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Parameters::parse(parameters, Parameters::kVisCorFlowUseMinEigenVals(), _flowUseMinEigenVals);
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Parameters::parse(parameters, Parameters::kVisCorFlowMinEigThreshold(), _flowMinEigThreshold);
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Parameters::parse(parameters, Parameters::kVisCorFlowErrorThreshold(), _flowErrorThreshold);
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Parameters::parse(parameters, Parameters::kVisCorNNDR(), _nndr);
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Parameters::parse(parameters, Parameters::kVisCorNNType(), _nnType);
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Parameters::parse(parameters, Parameters::kGMSWithRotation(), _gmsWithRotation);
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@@ -656,6 +662,7 @@ Transform RegistrationVis::computeTransformationImpl(
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// Find features in the new left image
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UDEBUG("guessSet = %d", guessSet?1:0);
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std::vector<unsigned char> status;
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std::vector<float> err;
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#ifdef HAVE_OPENCV_CUDAOPTFLOW
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if (_flowGpu)
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{
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@@ -685,7 +692,6 @@ Transform RegistrationVis::computeTransformationImpl(
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else
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#endif
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{
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std::vector<float> err;
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UDEBUG("cv::calcOpticalFlowPyrLK() begin");
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cv::calcOpticalFlowPyrLK(
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imageFrom,
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@@ -697,7 +703,8 @@ Transform RegistrationVis::computeTransformationImpl(
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cv::Size(_flowWinSize, _flowWinSize),
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guessSet ? 0 : _flowMaxLevel,
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cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, _flowIterations, _flowEps),
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cv::OPTFLOW_LK_GET_MIN_EIGENVALS | (guessSet ? cv::OPTFLOW_USE_INITIAL_FLOW : 0), 1e-4);
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(_flowUseMinEigenVals ? cv::OPTFLOW_LK_GET_MIN_EIGENVALS : 0) | (guessSet ? cv::OPTFLOW_USE_INITIAL_FLOW : 0),
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_flowMinEigThreshold);
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UDEBUG("cv::calcOpticalFlowPyrLK() end");
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}
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@@ -706,11 +713,14 @@ Transform RegistrationVis::computeTransformationImpl(
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std::vector<cv::Point3f> kptsFrom3DKept(kptsFrom3D.size());
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std::vector<int> orignalWordsFromIdsCpy = orignalWordsFromIds;
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int ki = 0;
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UASSERT((status.empty() || cornersTo.size() == status.size()) &&
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(err.empty() || cornersTo.size() == err.size()));
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for(unsigned int i=0; i<status.size(); ++i)
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{
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if(status[i] &&
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uIsInBounds(cornersTo[i].x, 0.0f, float(imageTo.cols)) &&
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uIsInBounds(cornersTo[i].y, 0.0f, float(imageTo.rows)))
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uIsInBounds(cornersTo[i].y, 0.0f, float(imageTo.rows)) &&
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(_flowUseMinEigenVals || err.empty() || err[i] < _flowErrorThreshold))
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{
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if(orignalWordsFromIdsCpy.size())
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{
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+22
-6
@@ -113,6 +113,9 @@ std::vector<cv::Point2f> Stereo::computeCorrespondences(
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StereoOpticalFlow::StereoOpticalFlow(const ParametersMap & parameters) :
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Stereo(parameters),
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epsilon_(Parameters::defaultStereoEps()),
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useMinEigenVals_(Parameters::defaultStereoUseMinEigenVals()),
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minEigThreshold_(Parameters::defaultStereoMinEigThreshold()),
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errorThreshold_(Parameters::defaultStereoErrorThreshold()),
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gpu_(Parameters::defaultStereoGpu())
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{
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this->parseParameters(parameters);
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@@ -122,6 +125,9 @@ void StereoOpticalFlow::parseParameters(const ParametersMap & parameters)
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{
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Stereo::parseParameters(parameters);
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Parameters::parse(parameters, Parameters::kStereoEps(), epsilon_);
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Parameters::parse(parameters, Parameters::kStereoUseMinEigenVals(), useMinEigenVals_);
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Parameters::parse(parameters, Parameters::kStereoMinEigThreshold(), minEigThreshold_);
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Parameters::parse(parameters, Parameters::kStereoErrorThreshold(), errorThreshold_);
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Parameters::parse(parameters, Parameters::kStereoGpu(), gpu_);
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#ifndef HAVE_OPENCV_CUDAOPTFLOW
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if(gpu_)
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@@ -171,11 +177,18 @@ std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
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err,
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this->winSize(),
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this->maxLevel(),
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cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, this->iterations(), epsilon_),
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cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
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cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, this->iterations(), this->epsilon()),
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this->usingMinEigenVals() ? cv::OPTFLOW_LK_GET_MIN_EIGENVALS : 0, this->minEigThreshold());
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UDEBUG("util2d::calcOpticalFlowPyrLKStereo() end");
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}
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updateStatus(leftCorners, rightCorners, status);
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if(this->usingMinEigenVals())
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{
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updateStatus(leftCorners, rightCorners, status);
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}
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else
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{
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updateStatus(leftCorners, rightCorners, status, err);
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}
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return rightCorners;
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}
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@@ -227,14 +240,17 @@ std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
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void StereoOpticalFlow::updateStatus(
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const std::vector<cv::Point2f> & leftCorners,
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const std::vector<cv::Point2f> & rightCorners,
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std::vector<unsigned char> & status) const
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std::vector<unsigned char> & status,
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std::vector<float> err) const
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{
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UASSERT(leftCorners.size() == rightCorners.size() && status.size() == leftCorners.size());
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UASSERT(
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leftCorners.size() == rightCorners.size() && status.size() == leftCorners.size() &&
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(err.empty() || err.size() == leftCorners.size()));
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int countFlowRejected = 0;
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int countDisparityRejected = 0;
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for(unsigned int i=0; i<status.size(); ++i)
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{
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if(status[i]!=0)
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if(status[i]!=0 && (err.empty() || err[i] < this->errorThreshold()))
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{
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float disparity = leftCorners[i].x - rightCorners[i].x;
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if(disparity <= this->minDisparity() || disparity > this->maxDisparity())
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@@ -1358,6 +1358,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->odom_flow_iterations->setObjectName(Parameters::kVisCorFlowIterations().c_str());
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_ui->odom_flow_eps->setObjectName(Parameters::kVisCorFlowEps().c_str());
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_ui->odom_flow_gpu->setObjectName(Parameters::kVisCorFlowGpu().c_str());
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_ui->odom_flow_useMinEigenVals->setObjectName(Parameters::kVisCorFlowUseMinEigenVals().c_str());
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_ui->odom_flow_minEigThreshold->setObjectName(Parameters::kVisCorFlowMinEigThreshold().c_str());
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_ui->odom_flow_errorThreshold->setObjectName(Parameters::kVisCorFlowErrorThreshold().c_str());
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_ui->loopClosure_bundle->setObjectName(Parameters::kVisBundleAdjustment().c_str());
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//RegistrationIcp
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@@ -1678,6 +1681,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->stereo_maxDisparity->setObjectName(Parameters::kStereoMaxDisparity().c_str());
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_ui->stereo_ssd->setObjectName(Parameters::kStereoSSD().c_str());
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_ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str());
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_ui->stereo_flow_useMinEigenVals->setObjectName(Parameters::kStereoUseMinEigenVals().c_str());
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_ui->stereo_flow_minEigThreshold->setObjectName(Parameters::kStereoMinEigThreshold().c_str());
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_ui->stereo_flow_errorThreshold->setObjectName(Parameters::kStereoErrorThreshold().c_str());
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_ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str());
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_ui->stereo_flow_gpu->setObjectName(Parameters::kStereoGpu().c_str());
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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>10</number>
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<number>24</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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@@ -16425,7 +16425,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<widget class="QStackedWidget" name="stackedWidget_odometryType">
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<property name="currentIndex">
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<number>13</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="page_52">
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<layout class="QVBoxLayout" name="verticalLayout_77">
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@@ -16965,6 +16965,22 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>[Visual] Correspondences computation: Optical Flow</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QSpinBox" name="odom_flow_winSize">
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<property name="minimum">
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<number>1</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>21</number>
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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_201">
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<property name="text">
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@@ -16978,19 +16994,6 @@ 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="3" column="1">
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<widget class="QLabel" name="label_297">
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<property name="text">
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<string>Max level.</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="1" column="0">
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<widget class="QSpinBox" name="odom_flow_iterations">
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<property name="minimum">
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@@ -17007,19 +17010,16 @@ 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="0" column="0">
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<widget class="QSpinBox" name="odom_flow_winSize">
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<property name="minimum">
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<number>1</number>
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<item row="1" column="1">
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<widget class="QLabel" name="label_295">
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<property name="text">
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<string>Iterations.</string>
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</property>
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<property name="maximum">
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<number>999999</number>
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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="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>21</number>
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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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@@ -17042,10 +17042,10 @@ 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="1" column="1">
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<widget class="QLabel" name="label_295">
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<item row="2" column="1">
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<widget class="QLabel" name="label_296">
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<property name="text">
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<string>Iterations.</string>
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<string>Epsilon.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -17071,23 +17071,10 @@ 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>
|
||||
</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_296">
|
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<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_297">
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<property name="text">
|
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<string>Epsilon.</string>
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</property>
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<property name="wordWrap">
|
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<bool>true</bool>
|
||||
</property>
|
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<property name="textInteractionFlags">
|
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
|
||||
</widget>
|
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_odom_flow_gpu">
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<property name="text">
|
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<string>Use GPU. OpenCV built with CUDA required.</string>
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<string>Max level.</string>
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</property>
|
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<property name="wordWrap">
|
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<bool>true</bool>
|
||||
@@ -17098,12 +17085,109 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
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</widget>
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||||
</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="odom_flow_useMinEigenVals">
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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>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_792">
|
||||
<property name="text">
|
||||
<string>Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.</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="odom_flow_minEigThreshold">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_791">
|
||||
<property name="text">
|
||||
<string>[Eigen error measure] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.</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="odom_flow_errorThreshold">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>50.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_793">
|
||||
<property name="text">
|
||||
<string>[L1 error measure] Filter out features with error greater than this threshold.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="odom_flow_gpu">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_odom_flow_gpu">
|
||||
<property name="text">
|
||||
<string>Use GPU. OpenCV built with CUDA required. Note that the error measure parameter is not used with the GPU implementation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -23020,6 +23104,35 @@ Lower the ratio -> higher the precision.</string>
|
||||
<string>Motion estimation: 3D to 3D</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_38">
|
||||
<property name="text">
|
||||
<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</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="QSpinBox" name="loopClosure_bowRefineIterations">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>10000</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="loopClosure_bowInlierDistance">
|
||||
<property name="suffix">
|
||||
@@ -23052,34 +23165,18 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="loopClosure_bowRefineIterations">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
<item row="2" column="1">
|
||||
<spacer name="verticalSpacer_93">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>10000</number>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_38">
|
||||
<property name="text">
|
||||
<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
@@ -24566,7 +24663,7 @@ Lower the ratio -> higher the precision.</string>
|
||||
<item>
|
||||
<widget class="QStackedWidget" name="stackedWidget_icpStrategy">
|
||||
<property name="currentIndex">
|
||||
<number>2</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_90">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_156">
|
||||
@@ -25532,10 +25629,17 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_stereo_flow_gpu">
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="stereo_flow_useMinEigenVals">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true] Do optical flow on GPU. RTAB-Map should be built with OpenCV CUDA.</string>
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_788">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -25545,13 +25649,90 @@ Lower the ratio -> higher the precision.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QDoubleSpinBox" name="stereo_flow_minEigThreshold">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_789">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true / Eigen error measure] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.</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="0">
|
||||
<widget class="QDoubleSpinBox" name="stereo_flow_errorThreshold">
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>50.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_790">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true / L1 error measure] Filter out features with error greater than this threshold.</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="QCheckBox" name="stereo_flow_gpu">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_stereo_flow_gpu">
|
||||
<property name="text">
|
||||
<string>[OpticalFlow = true] Do optical flow on GPU. RTAB-Map should be built with OpenCV CUDA. Note that the error measure parameter is not used with the GPU implementation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user