mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Refactored Odometry class:
-new odometry parameters -new Optical flow strategy -Stereo data support Refactored SensorData class to support stereo images Updated default parameters (mostly odometry ones) util3d: new methods to handle/reconstruct 3D clouds from disparity image / stereo images PreferencesDialog: added Odometry/BOW and Odometry/OpticalFLow panels. DatabaseViewer: fixed a crash when database is empty. Added cloud reconstruction of stereo images if saved in database Camera: added 1 second delay to avoid dark images at the starting git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1849 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -65,7 +65,7 @@
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<x>0</x>
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<y>0</y>
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<width>744</width>
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<height>974</height>
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<height>1019</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -86,7 +86,7 @@
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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>1</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">
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@@ -3281,7 +3281,7 @@ generate the number of words requested.</string>
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||||
<item row="6" column="1">
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||||
<widget class="QLabel" name="label_101">
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||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom].</string>
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
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</property>
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||||
<property name="wordWrap">
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<bool>true</bool>
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@@ -5832,37 +5832,81 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</widget>
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</item>
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<item>
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<layout class="QFormLayout" name="formLayout_8">
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<property name="fieldGrowthPolicy">
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||||
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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||||
</property>
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||||
<item row="1" column="0">
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<widget class="QLabel" name="label_44">
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||||
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
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||||
<item row="4" column="1">
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||||
<widget class="QLabel" name="label_47">
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||||
<property name="text">
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||||
<string>Feature detector </string>
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||||
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).</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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||||
</widget>
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||||
</item>
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||||
<item row="2" column="0">
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<widget class="QSpinBox" name="odom_localHistory">
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||||
<item row="0" column="0">
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||||
<widget class="QComboBox" name="odom_strategy">
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||||
<property name="sizeAdjustPolicy">
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||||
<enum>QComboBox::AdjustToContents</enum>
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</property>
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||||
<item>
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<property name="text">
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<string>BOW (bag-of-words)</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>Optical Flow</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="3" column="1">
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<widget class="QLabel" name="label_46">
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<property name="text">
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<string>Angular update: minimum angular distance to update the odometry.</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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</widget>
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</item>
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||||
<item row="10" column="0">
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<widget class="QSpinBox" name="odom_refine_iterations">
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<property name="minimum">
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||||
<number>0</number>
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||||
</property>
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||||
<property name="maximum">
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||||
<number>999999</number>
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||||
<number>10000</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>0</number>
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||||
<number>10</number>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="2" column="1">
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<item row="10" column="1">
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<widget class="QLabel" name="label_111">
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<property name="text">
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<string>Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
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<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</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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||||
</widget>
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</item>
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<item row="5" column="0">
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<widget class="QSpinBox" name="odom_maxFeatures">
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<property name="maximum">
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<number>999999</number>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="5" column="1">
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<widget class="QLabel" name="label_136">
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<property name="text">
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<string>Max features extracted from the images (0 means inf).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -5870,32 +5914,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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="odom_linearUpdate">
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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>3</number>
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||||
</property>
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||||
<property name="singleStep">
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||||
<double>0.100000000000000</double>
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||||
</property>
|
||||
<property name="value">
|
||||
<double>0.015000000000000</double>
|
||||
</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_45">
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<property name="text">
|
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<string>Linear update: minimum linear distance to update the odometry.</string>
|
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</property>
|
||||
<property name="wordWrap">
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<bool>true</bool>
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</property>
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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="QDoubleSpinBox" name="odom_angularUpdate">
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<property name="suffix">
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<string> m</string>
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@@ -5911,96 +5929,10 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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||||
<widget class="QLabel" name="label_46">
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<property name="text">
|
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<string>Angular update: minimum angular distance to update the odometry.</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
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||||
</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QSpinBox" name="odom_countdown">
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<property name="maximum">
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<number>999999</number>
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||||
</property>
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</widget>
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</item>
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||||
<item row="5" column="1">
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||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
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||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QSpinBox" name="odom_maxFeatures">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_136">
|
||||
<property name="text">
|
||||
<string>Max features extracted from the images (0 means inf).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
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||||
</item>
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||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_inlierDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.005000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_149">
|
||||
<property name="text">
|
||||
<string>Maximum distance for visual word correspondences. Lower the value, higher the precision but higher the chance of RED screens (odometry lost).</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="odom_minInliers">
|
||||
<property name="minimum">
|
||||
<number>8</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
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||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
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||||
</property>
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||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_145">
|
||||
<property name="text">
|
||||
<string>Minimum visual word correspondences to compute geometry transform.</string>
|
||||
<string>RANSAC: Maximum distance for 3D feature correspondences. Lower the value, higher the precision but higher the chance of RED screens (odometry lost).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -6023,17 +5955,14 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_36">
|
||||
<property name="text">
|
||||
<string>Maximum iterations to compute the transform from visual words.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
<item row="4" column="0">
|
||||
<widget class="QSpinBox" name="odom_countdown">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_ratio">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -6055,7 +5984,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
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||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_90">
|
||||
<property name="text">
|
||||
<string>Minmum ratio of keypoints between the current image and the last image to compute odometry.</string>
|
||||
@@ -6065,7 +5994,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
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||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<item row="12" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_maxDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -6084,7 +6013,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_104">
|
||||
<property name="text">
|
||||
<string>Max feature depth.</string>
|
||||
@@ -6094,49 +6023,75 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QComboBox" name="odom_bin_nn">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN Linear</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN KdTree</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN LSH</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Brute Force</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Brute Force GPU</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_103">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_145">
|
||||
<property name="text">
|
||||
<string>Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector.</string>
|
||||
<string>Minimum feature correspondences to compute geometry transform.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_36">
|
||||
<property name="text">
|
||||
<string>RANSAC: Maximum iterations to compute the transform from 3D features.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QSpinBox" name="odom_minInliers">
|
||||
<property name="minimum">
|
||||
<number>8</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_linearUpdate">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.015000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_inlierDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.005000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="odom_type">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
@@ -6183,34 +6138,55 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_123">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_45">
|
||||
<property name="text">
|
||||
<string>NNDR ratio
|
||||
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
|
||||
Lower the ratio -> higher the precision. 0 means disabled, matching the nearest.</string>
|
||||
<string>Linear update: minimum linear distance to update the odometry.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_bin_nndrRatio">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_44">
|
||||
<property name="text">
|
||||
<string>Feature detector. In BOW mode, the related descriptor is also used. In Optical flow mode, only the keypoint detector is used.</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.100000000000000</double>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_103">
|
||||
<property name="text">
|
||||
<string>Odometry strategy:
|
||||
1-BOW matches features extracted from both frames using nearest neighbor with descriptors, then computes RANSAC transformation estimation with corresponding 3D features.
|
||||
2-Optical flow estimate the location of 2D features from last frame to new frame, then computes RANSAC transformation with corresponding 3D features.</string>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.700000000000000</double>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_odom_roi">
|
||||
<property name="text">
|
||||
<string>0.0 0.0 0.0 0.0</string>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_123">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -6258,6 +6234,378 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_26">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_54">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odometryBOW3">
|
||||
<property name="title">
|
||||
<string>BOW</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="odom_localHistory">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_190">
|
||||
<property name="text">
|
||||
<string>Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="odom_bin_nn">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN Linear</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN KdTree</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FLANN LSH</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Brute Force</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Brute Force GPU</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_201">
|
||||
<property name="text">
|
||||
<string>Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_bin_nndrRatio">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.700000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_202">
|
||||
<property name="text">
|
||||
<string>NNDR ratio
|
||||
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
|
||||
Lower the ratio -> higher the precision. 0 means disabled, matching the nearest.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_27">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>670</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_28">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_55">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odometryFlow3">
|
||||
<property name="title">
|
||||
<string>Optical Flow</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_53">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_199">
|
||||
<property name="text">
|
||||
<string>The process is as follow:
|
||||
- Features from the last frame are estimated in the new frame using an optical flow approach (see cv::calcOpticalFlowPyrLK()).
|
||||
- 3D features from the new frame are extracted from the estimated positions.
|
||||
- Using RANSAC, a transformation is estimated between corresponding 3D features.
|
||||
- New features are extracted from the new frame to be used for the next time.
|
||||
- Optionally, the 2D position of the features can be refined for sub pixel precision (see cv::cornerSubPix()). </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_4">
|
||||
<property name="title">
|
||||
<string>calcOpticalFlowPyrLK()</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_30" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_winSize">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>21</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_192">
|
||||
<property name="text">
|
||||
<string>Window size.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_iterations">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>30</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_193">
|
||||
<property name="text">
|
||||
<string>Iterations.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_flow_eps">
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_194">
|
||||
<property name="text">
|
||||
<string>Epsilon.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_195">
|
||||
<property name="text">
|
||||
<string>Max level.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_maxLevel">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>3</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_7">
|
||||
<property name="title">
|
||||
<string>cornerSubPix()</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_subpix_winSize">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_196">
|
||||
<property name="text">
|
||||
<string>Window size for sub pixel estimation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="odom_flow_subpix_iterations">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>20</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_197">
|
||||
<property name="text">
|
||||
<string>Iterations for sub pixel estimation. 0 disables sub pixel refining.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_flow_subpix_eps">
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.030000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_198">
|
||||
<property name="text">
|
||||
<string>Epsilon for sub pixel estimation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_28">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>518</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user