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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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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>