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Added PnP Pose estimation based Odometry option. Added sensor icons in menu.

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This commit is contained in:
Mathieu Labbe
2015-03-31 15:45:38 -04:00
parent 7e216bf842
commit 6089a44589
19 changed files with 1088 additions and 453 deletions
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155
guilib/src/ui/mainWindow.ui
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@@ -27,7 +27,7 @@
<x>0</x>
<y>0</y>
<width>1012</width>
<height>22</height>
<height>25</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -106,6 +106,10 @@
<property name="title">
<string>Kinect</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/kinect_xbox_360.png</normaloff>:/images/kinect_xbox_360.png</iconset>
</property>
<addaction name="actionFreenect"/>
<addaction name="actionOpenNI2_kinect"/>
<addaction name="actionOpenNI_PCL"/>
@@ -115,6 +119,10 @@
<property name="title">
<string>Xtion PRO LIVE</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/xtion_pro_live.png</normaloff>:/images/xtion_pro_live.png</iconset>
</property>
<addaction name="actionOpenNI2"/>
<addaction name="actionOpenNI_PCL_ASUS"/>
<addaction name="actionOpenNI_CV_ASUS"/>
@@ -123,6 +131,10 @@
<property name="title">
<string>Sense 3D scanner</string>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/sense.png</normaloff>:/images/sense.png</iconset>
</property>
<addaction name="actionOpenNI2_Sense"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
@@ -221,16 +233,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
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</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -249,13 +252,9 @@
<attribute name="toolBarBreak">
<bool>false</bool>
</attribute>
<addaction name="actionClose_database"/>
<addaction name="actionNew_database"/>
<addaction name="actionOpen_database"/>
<addaction name="actionClose_database"/>
<addaction name="separator"/>
<addaction name="actionStart"/>
<addaction name="actionPause"/>
<addaction name="actionStop"/>
</widget>
<widget class="QDockWidget" name="dockWidget_statsV2">
<property name="floating">
@@ -272,16 +271,7 @@
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<number>0</number>
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@@ -524,16 +514,7 @@
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@@ -554,16 +535,7 @@
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@@ -584,16 +556,7 @@
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@@ -614,16 +577,7 @@
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@@ -644,16 +598,7 @@
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<number>0</number>
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@@ -677,16 +622,7 @@
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<number>0</number>
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@@ -707,16 +643,7 @@
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<number>0</number>
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@@ -740,16 +667,7 @@
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<number>0</number>
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@@ -819,16 +737,7 @@
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<number>0</number>
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<property name="leftMargin">
<number>0</number>
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<item>
@@ -837,6 +746,20 @@
</layout>
</widget>
</widget>
<widget class="QToolBar" name="toolBar_2">
<property name="windowTitle">
<string>toolBar_2</string>
</property>
<attribute name="toolBarArea">
<enum>TopToolBarArea</enum>
</attribute>
<attribute name="toolBarBreak">
<bool>false</bool>
</attribute>
<addaction name="actionStart"/>
<addaction name="actionPause"/>
<addaction name="actionStop"/>
</widget>
<action name="actionExit">
<property name="icon">
<iconset resource="../GuiLib.qrc">

77
guilib/src/ui/preferencesDialog.ui
View File

@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>23</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -6610,6 +6610,81 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_225">
<property name="text">
<string>PnP reprojection error.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="odom_pnpReprojError">
<property name="suffix">
<string> pix</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>8.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="odom_pnpEstimation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_226">
<property name="text">
<string>PnP RANSAC: Pose estimation from 2D to 3D correspondences instead of 3D to 3D correspondences. PnP uses &quot;Minimum feature correspondences&quot; and &quot;Maximum iterations&quot; above.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_227">
<property name="text">
<string>PnP flags.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="odom_pnpFlags">
<item>
<property name="text">
<string>Iterative</string>
</property>
</item>
<item>
<property name="text">
<string>EPNP</string>
</property>
</item>
<item>
<property name="text">
<string>P3P</string>
</property>
</item>
</widget>
</item>
</layout>
</widget>
</item>