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Added GridAdaptor for FAST feature (issue #43). Fixed RegistrationVis feature parameters not set. Added FAST_ORB feature type.

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This commit is contained in:
matlabbe
2015-11-25 19:56:14 -05:00
parent da1129cf79
commit 63c96f39a3
8 changed files with 331 additions and 71 deletions
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23
guilib/src/PreferencesDialog.cpp
View File

@@ -546,6 +546,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//FAST detector
_ui->fastSuppressNonMax->setObjectName(Parameters::kFASTNonmaxSuppression().c_str());
_ui->fastThreshold->setObjectName(Parameters::kFASTThreshold().c_str());
_ui->fastThresholdMin->setObjectName(Parameters::kFASTMinThreshold().c_str());
_ui->fastThresholdMax->setObjectName(Parameters::kFASTMaxThreshold().c_str());
_ui->fastGridRows->setObjectName(Parameters::kFASTGridRows().c_str());
_ui->fastGridCols->setObjectName(Parameters::kFASTGridCols().c_str());
_ui->fastGpu->setObjectName(Parameters::kFASTGpu().c_str());
_ui->fastKeypointRatio->setObjectName(Parameters::kFASTGpuKeypointsRatio().c_str());
@@ -1999,6 +2003,25 @@ bool PreferencesDialog::validateForm()
_ui->loopClosure_bowMinDepth->setValue(0);
}
if(_ui->fastThresholdMax->value() < _ui->fastThresholdMin->value())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("FAST minimum threshold cannot be lower than maximum threshold. Setting minimum to 1."));
_ui->fastThresholdMin->setValue(1);
}
if(_ui->fastThreshold->value() > _ui->fastThresholdMax->value())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("FAST threshold cannot be higher than maximum threshold. Maximum value set to current threshold."));
_ui->fastThresholdMax->setValue(_ui->fastThreshold->value());
}
if(_ui->fastThreshold->value() < _ui->fastThresholdMin->value())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("FAST threshold cannot be lower than minimum threshold. Minimum value set to current threshold."));
_ui->fastThresholdMin->setValue(_ui->fastThreshold->value());
}
return true;
}

126
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1112</y>
<y>0</y>
<width>760</width>
<height>1802</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>20</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -4907,6 +4907,11 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
<string>GFTT+ORB</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+ORB</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
@@ -5929,7 +5934,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="2" column="0">
<item row="6" column="0">
<widget class="QCheckBox" name="fastGpu">
<property name="text">
<string/>
@@ -5939,7 +5944,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="2" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_fastGPU">
<property name="text">
<string>GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
@@ -5952,7 +5957,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="3" column="0">
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="fastKeypointRatio">
<property name="maximum">
<double>1.000000000000000</double>
@@ -5965,7 +5970,7 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="3" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_fastGPUKptRatio">
<property name="text">
<string>Used with FAST GPU.</string>
@@ -5978,6 +5983,110 @@ When set to false, no new words are added to dictionary, so no more updates are
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_104">
<property name="text">
<string>Grid rows (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</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="QSpinBox" name="fastGridRows">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="fastGridCols">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_109">
<property name="text">
<string>Grid cols (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</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_111">
<property name="text">
<string>Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</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_115">
<property name="text">
<string>Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="fastThresholdMin">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="fastThresholdMax">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -8056,6 +8165,11 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<string>GFTT+ORB</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+ORB</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">