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Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.

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This commit is contained in:
matlabbe
2020-05-09 21:13:41 -04:00
parent abc3ebee8c
commit 91285e5e97
35 changed files with 1554 additions and 249 deletions
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3
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -336,7 +336,8 @@ private Q_SLOTS:
void changeOdometryOKVISConfigPath();
void changeOdometryVINSConfigPath();
void changeIcpPMConfigPath();
void changeSPTorchModelPath();
void changeSuperPointModelPath();
void changeSuperGluePath();
void readSettingsEnd();
void setupTreeView();
void updateBasicParameter();

9
guilib/src/AboutDialog.cpp
View File

@@ -66,13 +66,20 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_orboctree->setText("No");
_ui->label_orboctree_license->setEnabled(false);
#endif
#ifdef RTABMAP_SP_TORCH
#ifdef RTABMAP_SUPERPOINT_TORCH
_ui->label_sptorch->setText("Yes");
_ui->label_sptorch_license->setEnabled(true);
#else
_ui->label_sptorch->setText("No");
_ui->label_sptorch_license->setEnabled(false);
#endif
#ifdef RTABMAP_SUPERGLUE_PYTORCH
_ui->label_sgpytorch->setText("Yes");
_ui->label_sgpytorch_license->setEnabled(true);
#else
_ui->label_sptorch->setText("No");
_ui->label_sptorch_license->setEnabled(false);
#endif
#ifdef RTABMAP_FASTCV
_ui->label_fastcv->setText("Yes");
_ui->label_fastcv_license->setEnabled(true);

25
guilib/src/DatabaseViewer.cpp
View File

@@ -205,13 +205,14 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
uInsert(parameters, Parameters::getDefaultParameters("FREAK"));
uInsert(parameters, Parameters::getDefaultParameters("BRISK"));
uInsert(parameters, Parameters::getDefaultParameters("KAZE"));
uInsert(parameters, Parameters::getDefaultParameters("SPTorch"));
uInsert(parameters, Parameters::getDefaultParameters("SuperPoint"));
uInsert(parameters, Parameters::getDefaultParameters("Optimizer"));
uInsert(parameters, Parameters::getDefaultParameters("g2o"));
uInsert(parameters, Parameters::getDefaultParameters("GTSAM"));
uInsert(parameters, Parameters::getDefaultParameters("Reg"));
uInsert(parameters, Parameters::getDefaultParameters("Vis"));
uInsert(parameters, Parameters::getDefaultParameters("Icp"));
uInsert(parameters, Parameters::getDefaultParameters("SuperGlue"));
uInsert(parameters, Parameters::getDefaultParameters("Stereo"));
uInsert(parameters, Parameters::getDefaultParameters("StereoBM"));
uInsert(parameters, Parameters::getDefaultParameters("Grid"));
@@ -5117,10 +5118,6 @@ void DatabaseViewer::updateWordsMatching(const std::vector<int> & inliers)
QList<int> ids = wordsA.uniqueKeys();
for(int i=0; i<ids.size(); ++i)
{
if(ids[i] > 0 && wordsA.count(ids[i]) == 1 && wordsB.count(ids[i]) == 1)
{
// PINK features
ui_->graphicsView_A->setFeatureColor(ids[i], ui_->graphicsView_A->getDefaultMatchingFeatureColor());
if(ids[i] > 0 && wordsA.count(ids[i]) == 1 && wordsB.count(ids[i]) == 1)
{
// Add lines
@@ -5159,6 +5156,13 @@ void DatabaseViewer::updateWordsMatching(const std::vector<int> & inliers)
QColor cB = ui_->graphicsView_B->getDefaultMatchingLineColor();
if(inliersSet.find(ids[i])!=inliersSet.end())
{
cA = ui_->graphicsView_A->getDefaultMatchingFeatureColor();
cB = ui_->graphicsView_B->getDefaultMatchingFeatureColor();
ui_->graphicsView_A->setFeatureColor(ids[i], ui_->graphicsView_A->getDefaultMatchingFeatureColor());
ui_->graphicsView_B->setFeatureColor(ids[i], ui_->graphicsView_B->getDefaultMatchingFeatureColor());
}
else
{
ui_->graphicsView_A->setFeatureColor(ids[i], ui_->graphicsView_A->getDefaultMatchingLineColor());
ui_->graphicsView_B->setFeatureColor(ids[i], ui_->graphicsView_B->getDefaultMatchingLineColor());
}
@@ -7155,7 +7159,7 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
this->updateGraphView();
}
if(!silent && ui_->dockWidget_constraints->isVisible())
if(!silent && ui_->dockWidget_constraints->isVisible())
{
if(toS && fromS->id() > 0 && toS->id() > 0)
{
@@ -7179,9 +7183,16 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
{
this->updateConstraintView();
}
}
}
}
else if(!silent)
{
if(toS && fromS->id() > 0 && toS->id() > 0)
{
// just update matches in the views
ui_->graphicsView_A->setFeatures(fromS->getWords(), fromS->sensorData().depthRaw());
ui_->graphicsView_B->setFeatures(toS->getWords(), toS->sensorData().depthRaw());
updateWordsMatching(info.inliersIDs);
}
QMessageBox::warning(this,

2
guilib/src/ImageView.cpp
View File

@@ -159,7 +159,7 @@ QIcon ImageView::createIcon(const QColor & color)
ImageView::ImageView(QWidget * parent) :
QWidget(parent),
_savedFileName((QDir::homePath()+ "/") + "picture" + ".png"),
_alpha(50),
_alpha(100),
_featuresSize(0.0f),
_defaultBgColor(Qt::black),
_defaultFeatureColor(Qt::yellow),

51
guilib/src/PreferencesDialog.cpp
View File

@@ -146,9 +146,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_ORBGpu->setEnabled(false);
_ui->label_orbGpu->setEnabled(false);
// remove BruteForceGPU option
_ui->comboBox_dictionary_strategy->removeItem(4);
_ui->reextract_nn->removeItem(4);
// disable BruteForceGPU option
_ui->comboBox_dictionary_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->reextract_nn->setItemData(4, 0, Qt::UserRole - 1);
}
#ifndef RTABMAP_OCTOMAP
@@ -218,11 +218,15 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->vis_feature_detector->setItemData(10, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_SP_TORCH
#ifndef RTABMAP_SUPERPOINT_TORCH
_ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_SUPERGLUE_PYTORCH
_ui->reextract_nn->setItemData(6, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false);
#else
@@ -948,12 +952,19 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_kaze_diffusivity->setObjectName(Parameters::kKAZEDiffusivity().c_str());
// SuperPoint Torch
_ui->lineEdit_sptorch_path->setObjectName(Parameters::kSPTorchModelPath().c_str());
connect(_ui->toolButton_sptorch_path, SIGNAL(clicked()), this, SLOT(changeSPTorchModelPath()));
_ui->doubleSpinBox_sptorch_threshold->setObjectName(Parameters::kSPTorchThreshold().c_str());
_ui->checkBox_sptorch_nms->setObjectName(Parameters::kSPTorchNMS().c_str());
_ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSPTorchMinDistance().c_str());
_ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSPTorchCuda().c_str());
_ui->lineEdit_sptorch_path->setObjectName(Parameters::kSuperPointModelPath().c_str());
connect(_ui->toolButton_sptorch_path, SIGNAL(clicked()), this, SLOT(changeSuperPointModelPath()));
_ui->doubleSpinBox_sptorch_threshold->setObjectName(Parameters::kSuperPointThreshold().c_str());
_ui->checkBox_sptorch_nms->setObjectName(Parameters::kSuperPointNMS().c_str());
_ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSuperPointNMSRadius().c_str());
_ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSuperPointCuda().c_str());
// SuperGlue PyTorch
_ui->lineEdit_sgpytorch_path->setObjectName(Parameters::kSuperGluePath().c_str());
connect(_ui->toolButton_sgpytorch_path, SIGNAL(clicked()), this, SLOT(changeSuperGluePath()));
_ui->sgpytorch_matchThreshold->setObjectName(Parameters::kSuperGlueMatchThreshold().c_str());
_ui->sgpytorch_iterations->setObjectName(Parameters::kSuperGlueIterations().c_str());
_ui->checkBox_sgpytorch_cuda->setObjectName(Parameters::kSuperGlueCuda().c_str());
// verifyHypotheses
_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
@@ -1039,7 +1050,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->checkBox__visCorCrossCheck->setObjectName(Parameters::kVisCorCrossCheck().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->checkBox__visCorGuessMatchToProjection->setObjectName(Parameters::kVisCorGuessMatchToProjection().c_str());
_ui->vis_feature_detector->setObjectName(Parameters::kVisFeatureType().c_str());
@@ -4711,7 +4721,7 @@ void PreferencesDialog::changeIcpPMConfigPath()
}
}
void PreferencesDialog::changeSPTorchModelPath()
void PreferencesDialog::changeSuperPointModelPath()
{
QString path;
if(_ui->lineEdit_sptorch_path->text().isEmpty())
@@ -4728,6 +4738,23 @@ void PreferencesDialog::changeSPTorchModelPath()
}
}
void PreferencesDialog::changeSuperGluePath()
{
QString path;
if(_ui->lineEdit_sgpytorch_path->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("SuperGlue wrapper (*.py)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_sgpytorch_path->text(), tr("SuperGlue wrapper (*.py)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_sgpytorch_path->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);

195
guilib/src/ui/aboutDialog.ui
View File

@@ -164,7 +164,7 @@ p, li { white-space: pre-wrap; }
<x>0</x>
<y>0</y>
<width>596</width>
<height>820</height>
<height>843</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
@@ -185,7 +185,7 @@ p, li { white-space: pre-wrap; }
</property>
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="15" column="0">
<item row="16" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
@@ -195,7 +195,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="0">
<item row="29" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
@@ -205,7 +205,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="2">
<item row="29" column="2">
<widget class="QLabel" name="label_fovis_license">
<property name="text">
<string>GPLv2</string>
@@ -238,7 +238,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QLabel" name="label_realsense2">
<property name="text">
<string/>
@@ -251,7 +251,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="0">
<item row="33" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>With OKVIS :</string>
@@ -261,7 +261,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="1">
<item row="31" column="1">
<widget class="QLabel" name="label_dvo">
<property name="text">
<string/>
@@ -274,7 +274,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_openni2">
<property name="text">
<string/>
@@ -297,7 +297,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="2">
<item row="13" column="2">
<widget class="QLabel" name="label_realsense2_license">
<property name="text">
<string>Apache-2</string>
@@ -307,7 +307,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="1">
<item row="33" column="1">
<widget class="QLabel" name="label_okvis">
<property name="text">
<string/>
@@ -320,7 +320,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="34" column="0">
<item row="35" column="0">
<widget class="QLabel" name="label_34">
<property name="text">
<string>With MSCKF :</string>
@@ -330,7 +330,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="1">
<item row="25" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
@@ -343,7 +343,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="34" column="1">
<item row="35" column="1">
<widget class="QLabel" name="label_msckf">
<property name="text">
<string/>
@@ -356,7 +356,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_openni2_license">
<property name="text">
<string>Apache v2</string>
@@ -376,7 +376,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>With K4W2 :</string>
@@ -386,7 +386,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="15" column="1">
<item row="16" column="1">
<widget class="QLabel" name="label_zed">
<property name="text">
<string/>
@@ -399,7 +399,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="0">
<item row="26" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
@@ -409,7 +409,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>With stereo dc1394 :</string>
@@ -419,7 +419,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="0">
<item row="30" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
@@ -429,7 +429,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="0">
<item row="32" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>With ORB SLAM 2 :</string>
@@ -449,7 +449,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="1">
<item row="32" column="1">
<widget class="QLabel" name="label_orbslam2">
<property name="text">
<string/>
@@ -462,7 +462,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="2">
<item row="14" column="2">
<widget class="QLabel" name="label_dc1394_license">
<property name="text">
<string>LGPL</string>
@@ -472,7 +472,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="2">
<item row="30" column="2">
<widget class="QLabel" name="label_viso2_license">
<property name="text">
<string>GPLv3</string>
@@ -482,7 +482,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>With stereo FlyCapture2 :</string>
@@ -492,7 +492,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="0">
<item row="25" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
@@ -502,7 +502,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="0">
<item row="19" column="0">
<widget class="QLabel" name="label_77">
<property name="text">
<string>With TORO :</string>
@@ -512,7 +512,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="1">
<item row="29" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
<string/>
@@ -525,7 +525,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="2">
<item row="25" column="2">
<widget class="QLabel" name="label_octomap_license">
<property name="text">
<string>BSD</string>
@@ -535,7 +535,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>With Freenect2 :</string>
@@ -545,7 +545,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QLabel" name="label_flycapture2">
<property name="text">
<string/>
@@ -568,7 +568,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="2">
<item row="11" column="2">
<widget class="QLabel" name="label_freenect2_license">
<property name="text">
<string>Apache v2 and/or GPLv2</string>
@@ -578,7 +578,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="1">
<item row="26" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text">
<string/>
@@ -591,7 +591,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>With RealSense :</string>
@@ -601,7 +601,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<item row="22" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
@@ -611,7 +611,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="0">
<item row="20" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
@@ -621,7 +621,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="1">
<item row="22" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -634,7 +634,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_freenect_license">
<property name="text">
<string>Apache v2 and/or GPLv2</string>
@@ -644,7 +644,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="1">
<item row="21" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
@@ -670,7 +670,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="0">
<item row="21" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
@@ -680,7 +680,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="1">
<item row="14" column="1">
<widget class="QLabel" name="label_dc1394">
<property name="text">
<string/>
@@ -703,7 +703,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
@@ -713,7 +713,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_freenect">
<property name="text">
<string/>
@@ -736,7 +736,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="0">
<item row="24" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>With libpointmatcher :</string>
@@ -746,7 +746,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="1">
<item row="20" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -772,7 +772,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_freenect2">
<property name="text">
<string/>
@@ -785,7 +785,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QLabel" name="label_33">
<property name="text">
<string>With RealSense2 :</string>
@@ -795,7 +795,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="34" column="2">
<item row="35" column="2">
<widget class="QLabel" name="label_msckf_license">
<property name="text">
<string>Penn Software License</string>
@@ -805,7 +805,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_realsense">
<property name="text">
<string/>
@@ -818,7 +818,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="2">
<item row="31" column="2">
<widget class="QLabel" name="label_dvo_license">
<property name="text">
<string>GPLv3</string>
@@ -828,7 +828,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="0">
<item row="34" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>With loam_velodyne :</string>
@@ -861,7 +861,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="1">
<item row="27" column="1">
<widget class="QLabel" name="label_openchisel">
<property name="text">
<string/>
@@ -874,7 +874,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="2">
<item row="21" column="2">
<widget class="QLabel" name="label_gtsam_license">
<property name="text">
<string>BSD</string>
@@ -884,7 +884,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="1">
<item row="24" column="1">
<widget class="QLabel" name="label_libpointmatcher">
<property name="text">
<string/>
@@ -897,7 +897,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="1">
<item row="34" column="1">
<widget class="QLabel" name="label_loam">
<property name="text">
<string/>
@@ -910,7 +910,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>With OpenNI2 :</string>
@@ -920,7 +920,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="0">
<item row="31" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>With DVO :</string>
@@ -930,7 +930,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="1">
<item row="30" column="1">
<widget class="QLabel" name="label_viso2">
<property name="text">
<string/>
@@ -943,7 +943,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="2">
<item row="32" column="2">
<widget class="QLabel" name="label_orbslam2_license">
<property name="text">
<string>GPLv3</string>
@@ -953,7 +953,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="0">
<item row="27" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>With OpenChisel :</string>
@@ -976,7 +976,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="1">
<item row="19" column="1">
<widget class="QLabel" name="label_toro">
<property name="text">
<string/>
@@ -989,7 +989,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="2">
<item row="20" column="2">
<widget class="QLabel" name="label_g2o_license">
<property name="text">
<string>BSD</string>
@@ -999,7 +999,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="2">
<item row="33" column="2">
<widget class="QLabel" name="label_okvis_license">
<property name="text">
<string>BSD</string>
@@ -1009,7 +1009,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="2">
<item row="34" column="2">
<widget class="QLabel" name="label_loam_license">
<property name="text">
<string>BSD</string>
@@ -1039,7 +1039,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="2">
<item row="24" column="2">
<widget class="QLabel" name="label_libpointmatcher_license">
<property name="text">
<string>BSD</string>
@@ -1049,7 +1049,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="2">
<item row="26" column="2">
<widget class="QLabel" name="label_cputsdf_license">
<property name="text">
<string>BSD</string>
@@ -1069,7 +1069,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="2">
<item row="22" column="2">
<widget class="QLabel" name="label_cvsba_license">
<property name="text">
<string>GPLv2</string>
@@ -1079,7 +1079,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="2">
<item row="19" column="2">
<widget class="QLabel" name="label_toro_license">
<property name="text">
<string>Creative Commons [Attribution-NonCommercial-ShareAlike]</string>
@@ -1089,7 +1089,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="2">
<item row="12" column="2">
<widget class="QLabel" name="label_realsense_license">
<property name="text">
<string>Apache-2</string>
@@ -1112,7 +1112,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="0">
<item row="18" column="0">
<widget class="QLabel" name="label_68">
<property name="text">
<string>With K4A :</string>
@@ -1122,7 +1122,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QLabel" name="label_k4w2">
<property name="text">
<string/>
@@ -1135,7 +1135,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="1">
<item row="18" column="1">
<widget class="QLabel" name="label_k4a">
<property name="text">
<string/>
@@ -1148,7 +1148,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="2">
<item row="18" column="2">
<widget class="QLabel" name="label_g2o_license_3">
<property name="text">
<string>MIT</string>
@@ -1158,7 +1158,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>With FastCV :</string>
@@ -1168,7 +1168,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_fastcv">
<property name="text">
<string/>
@@ -1181,7 +1181,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="2">
<item row="8" column="2">
<widget class="QLabel" name="label_fastcv_license">
<property name="text">
<string>Apache v2</string>
@@ -1191,7 +1191,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<item row="23" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>With Ceres :</string>
@@ -1201,7 +1201,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="2">
<item row="23" column="2">
<widget class="QLabel" name="label_ceres_license">
<property name="text">
<string>BSD</string>
@@ -1211,7 +1211,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="1">
<item row="23" column="1">
<widget class="QLabel" name="label_ceres">
<property name="text">
<string/>
@@ -1224,7 +1224,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="0">
<item row="28" column="0">
<widget class="QLabel" name="label_41">
<property name="text">
<string>With AliceVision :</string>
@@ -1234,7 +1234,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="1">
<item row="28" column="1">
<widget class="QLabel" name="label_aliceVision">
<property name="text">
<string/>
@@ -1247,7 +1247,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="2">
<item row="28" column="2">
<widget class="QLabel" name="label_aliceVision_license">
<property name="text">
<string>MPL2</string>
@@ -1290,6 +1290,39 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_sgpytorch_license">
<property name="text">
<string>GPLv3</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>With SuperGlue PyTorch :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_sgpytorch">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>

202
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-798</y>
<width>680</width>
<height>3497</height>
</rect>
@@ -16830,7 +16830,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</layout>
</widget>
<widget class="QWidget" name="page_21">
<layout class="QVBoxLayout" name="verticalLayout_50">
<layout class="QVBoxLayout" name="verticalLayout_50" stretch="0,1">
<item>
<widget class="QGroupBox" name="groupBox_visualTransform2">
<property name="title">
@@ -17056,7 +17056,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_visCorGuessWinSize">
<property name="suffix">
<string> pixels</string>
@@ -17094,7 +17094,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="0" column="0">
<widget class="QComboBox" name="reextract_nn">
<property name="currentIndex">
<number>3</number>
<number>0</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -17124,6 +17124,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>Brute Force GPU</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force Cross Check</string>
</property>
</item>
<item>
<property name="text">
<string>SuperGlue PyTorch</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
@@ -17141,7 +17151,7 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_303">
<property name="text">
<string>Matching window size around projected points when a guess transform is provided to find correspondences. 0 means that global matching will be done.</string>
@@ -17154,7 +17164,7 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="4" column="1">
<spacer name="verticalSpacer_44">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -17167,7 +17177,7 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</spacer>
</item>
<item row="4" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_448">
<property name="text">
<string>Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.</string>
@@ -17180,33 +17190,13 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox__visCorGuessMatchToProjection">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_582">
<property name="text">
<string>Cross check matching. If enabled, brute force matching with cross check is done instead of one of the nearest neighbor strategy above based on NNDR ratio.</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="QCheckBox" name="checkBox__visCorCrossCheck">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -17528,7 +17518,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_46" stretch="0,0,1">
<layout class="QVBoxLayout" name="verticalLayout_46" stretch="0,0,1,0">
<item>
<widget class="QLabel" name="label_182">
<property name="text">
@@ -17903,8 +17893,154 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_32">
<property name="title">
<string>SuperGlue</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_149">
<item>
<widget class="QLabel" name="label_586">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Python wrapper of &lt;a href=&quot;https://github.com/magicleap/SuperGluePretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperGlue&lt;/span&gt;&lt;/a&gt; project. Download &lt;a href=&quot;https://github.com/introlab/rtabmap/blob/master/corelib/src/superglue_pytorch/rtabmap_superglue.py&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;rtabmap_superpoint.py&lt;/span&gt;&lt;/a&gt; and copy it at the root folder of SuperGlue git, then set its path below. &lt;span style=&quot; font-weight:600;&quot;&gt;Important&lt;/span&gt;: SuperGlue works only with SuperPoint descriptors!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_116" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_sgpytorch_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_sgpytorch_path"/>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_585">
<property name="text">
<string>Match threshold.</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="QDoubleSpinBox" name="sgpytorch_matchThreshold">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_584">
<property name="text">
<string>Iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_583">
<property name="text">
<string>[Required] Path to rtabmap_superpoint.py.</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="1">
<widget class="QSpinBox" name="sgpytorch_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="3" column="2">
<widget class="QLabel" name="label_587">
<property name="text">
<string>Cuda.</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="QCheckBox" name="checkBox_sgpytorch_cuda">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_86">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
@@ -17922,8 +18058,8 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>