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Removed parameters Vis/UseDepthAsMask and Mem/UseDepthAsMask (just always do it when a depth is detected)

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matlabbe
2016-03-01 14:40:40 -05:00
parent 1f999c4d28
commit a89b8cb4fe
7 changed files with 144 additions and 202 deletions
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1
corelib/include/rtabmap/core/Memory.h
View File

@@ -245,7 +245,6 @@ private:
float _rehearsalMaxDistance; float _rehearsalMaxDistance;
float _rehearsalMaxAngle; float _rehearsalMaxAngle;
bool _rehearsalWeightIgnoredWhileMoving; bool _rehearsalWeightIgnoredWhileMoving;
bool _useDepthAsMask;
bool _useOdometryFeatures; bool _useOdometryFeatures;
int _idCount; int _idCount;

2
corelib/include/rtabmap/core/Parameters.h
View File

@@ -208,7 +208,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session."); RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1) when creating a signature."); RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1) when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature."); RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, UseDepthAsMask, bool, false, "Use depth image as mask for features detection.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features."); RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features.");
// KeypointMemory (Keypoint-based) // KeypointMemory (Keypoint-based)
@@ -410,7 +409,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach."); RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach."); RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach."); RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, "[Vis/CorrespondenceType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.");
RTABMAP_PARAM(Vis, UseDepthAsMask, bool, true, "Use depth image as mask for features detection.");
// ICP registration parameters // ICP registration parameters
RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m)."); RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");

1
corelib/include/rtabmap/core/RegistrationVis.h
View File

@@ -81,7 +81,6 @@ private:
int _flowMaxLevel; int _flowMaxLevel;
float _nndr; float _nndr;
int _guessWinSize; int _guessWinSize;
bool _useDepthAsMask;
ParametersMap _featureParameters; ParametersMap _featureParameters;
}; };

8
corelib/src/Memory.cpp
View File

@@ -89,7 +89,6 @@ Memory::Memory(const ParametersMap & parameters) :
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()), _rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()), _rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
_rehearsalWeightIgnoredWhileMoving(Parameters::defaultMemRehearsalWeightIgnoredWhileMoving()), _rehearsalWeightIgnoredWhileMoving(Parameters::defaultMemRehearsalWeightIgnoredWhileMoving()),
_useDepthAsMask(Parameters::defaultMemUseDepthAsMask()),
_useOdometryFeatures(Parameters::defaultMemUseOdomFeatures()), _useOdometryFeatures(Parameters::defaultMemUseOdomFeatures()),
_idCount(kIdStart), _idCount(kIdStart),
_idMapCount(kIdStart), _idMapCount(kIdStart),
@@ -404,7 +403,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance); Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle); Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
Parameters::parse(parameters, Parameters::kMemRehearsalWeightIgnoredWhileMoving(), _rehearsalWeightIgnoredWhileMoving); Parameters::parse(parameters, Parameters::kMemRehearsalWeightIgnoredWhileMoving(), _rehearsalWeightIgnoredWhileMoving);
Parameters::parse(parameters, Parameters::kMemUseDepthAsMask(), _useDepthAsMask);
Parameters::parse(parameters, Parameters::kMemUseOdomFeatures(), _useOdometryFeatures); Parameters::parse(parameters, Parameters::kMemUseOdomFeatures(), _useOdometryFeatures);
UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str()); UASSERT_MSG(_maxStMemSize >= 0, uFormat("value=%d", _maxStMemSize).c_str());
@@ -3120,9 +3118,11 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
} }
cv::Mat depthMask; cv::Mat depthMask;
if(_useDepthAsMask && !data.depthRaw().empty()) if(!data.depthRaw().empty())
{ {
if(imageMono.rows/data.depthRaw().rows == imageMono.cols/data.depthRaw().cols) if(imageMono.rows % data.depthRaw().rows == 0 &&
imageMono.cols % data.depthRaw().cols == 0 &&
imageMono.rows/data.depthRaw().rows == imageMono.cols/data.depthRaw().cols)
{ {
depthMask = util2d::interpolate(data.depthRaw(), imageMono.rows/data.depthRaw().rows, 0.1f); depthMask = util2d::interpolate(data.depthRaw(), imageMono.rows/data.depthRaw().rows, 0.1f);
} }

10
corelib/src/RegistrationVis.cpp
View File

@@ -62,8 +62,7 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
_flowEps(Parameters::defaultVisCorFlowEps()), _flowEps(Parameters::defaultVisCorFlowEps()),
_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel()), _flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel()),
_nndr(Parameters::defaultVisCorNNDR()), _nndr(Parameters::defaultVisCorNNDR()),
_guessWinSize(Parameters::defaultVisCorGuessWinSize()), _guessWinSize(Parameters::defaultVisCorGuessWinSize())
_useDepthAsMask(Parameters::defaultVisUseDepthAsMask())
{ {
_featureParameters = Parameters::getDefaultParameters(); _featureParameters = Parameters::getDefaultParameters();
uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisCorNNType()))); uInsert(_featureParameters, ParametersPair(Parameters::kKpNNStrategy(), _featureParameters.at(Parameters::kVisCorNNType())));
@@ -101,7 +100,6 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kVisCorFlowMaxLevel(), _flowMaxLevel); Parameters::parse(parameters, Parameters::kVisCorFlowMaxLevel(), _flowMaxLevel);
Parameters::parse(parameters, Parameters::kVisCorNNDR(), _nndr); Parameters::parse(parameters, Parameters::kVisCorNNDR(), _nndr);
Parameters::parse(parameters, Parameters::kVisCorGuessWinSize(), _guessWinSize); Parameters::parse(parameters, Parameters::kVisCorGuessWinSize(), _guessWinSize);
Parameters::parse(parameters, Parameters::kVisUseDepthAsMask(), _useDepthAsMask);
UASSERT_MSG(_minInliers >= 1, uFormat("value=%d", _minInliers).c_str()); UASSERT_MSG(_minInliers >= 1, uFormat("value=%d", _minInliers).c_str());
UASSERT_MSG(_inlierDistance > 0.0f, uFormat("value=%f", _inlierDistance).c_str()); UASSERT_MSG(_inlierDistance > 0.0f, uFormat("value=%f", _inlierDistance).c_str());
@@ -259,7 +257,7 @@ Transform RegistrationVis::computeTransformationImpl(
} }
cv::Mat depthMask; cv::Mat depthMask;
if(_useDepthAsMask && !fromSignature.sensorData().depthRaw().empty()) if(!fromSignature.sensorData().depthRaw().empty())
{ {
if(fromSignature.sensorData().imageRaw().rows % fromSignature.sensorData().depthRaw().rows == 0 && if(fromSignature.sensorData().imageRaw().rows % fromSignature.sensorData().depthRaw().rows == 0 &&
fromSignature.sensorData().imageRaw().cols % fromSignature.sensorData().depthRaw().cols == 0 && fromSignature.sensorData().imageRaw().cols % fromSignature.sensorData().depthRaw().cols == 0 &&
@@ -430,10 +428,10 @@ Transform RegistrationVis::computeTransformationImpl(
} }
cv::Mat depthMask; cv::Mat depthMask;
if(_useDepthAsMask && !toSignature.sensorData().depthRaw().empty()) if(!toSignature.sensorData().depthRaw().empty())
{ {
if(toSignature.sensorData().imageRaw().rows % toSignature.sensorData().depthRaw().rows == 0 && if(toSignature.sensorData().imageRaw().rows % toSignature.sensorData().depthRaw().rows == 0 &&
toSignature.sensorData().imageRaw().cols % toSignature.sensorData().depthRaw().cols == 0 && toSignature.sensorData().imageRaw().cols % toSignature.sensorData().depthRaw().cols == 0 &&
toSignature.sensorData().imageRaw().rows/toSignature.sensorData().depthRaw().rows == toSignature.sensorData().imageRaw().cols/toSignature.sensorData().depthRaw().cols) toSignature.sensorData().imageRaw().rows/toSignature.sensorData().depthRaw().rows == toSignature.sensorData().imageRaw().cols/toSignature.sensorData().depthRaw().cols)
{ {
depthMask = util2d::interpolate(toSignature.sensorData().depthRaw(), toSignature.sensorData().imageRaw().rows/toSignature.sensorData().depthRaw().rows, 0.1f); depthMask = util2d::interpolate(toSignature.sensorData().depthRaw(), toSignature.sensorData().imageRaw().rows/toSignature.sensorData().depthRaw().rows, 0.1f);

3
guilib/src/PreferencesDialog.cpp
View File

@@ -519,7 +519,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str()); _ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());
_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str()); _ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str()); _ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());
_ui->checkBox_useDepthAsMask->setObjectName(Parameters::kMemUseDepthAsMask().c_str());
_ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str()); _ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str());
// Database // Database
@@ -675,7 +674,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str()); _ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str()); _ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str()); _ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->loopClosure_useDepthAsMask->setObjectName(Parameters::kVisUseDepthAsMask().c_str());
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str()); _ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str()); _ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());
@@ -3328,7 +3326,6 @@ void PreferencesDialog::useOdomFeatures()
_ui->surf_doubleSpinBox_maxDepth->setValue(_ui->loopClosure_bowMaxDepth->value()); _ui->surf_doubleSpinBox_maxDepth->setValue(_ui->loopClosure_bowMaxDepth->value());
_ui->surf_doubleSpinBox_minDepth->setValue(_ui->loopClosure_bowMinDepth->value()); _ui->surf_doubleSpinBox_minDepth->setValue(_ui->loopClosure_bowMinDepth->value());
_ui->surf_spinBox_wordsPerImageTarget->setValue(_ui->reextract_maxFeatures->value()); _ui->surf_spinBox_wordsPerImageTarget->setValue(_ui->reextract_maxFeatures->value());
_ui->checkBox_useDepthAsMask->setChecked(_ui->loopClosure_useDepthAsMask->isChecked());
_ui->lineEdit_kp_roi->setText(_ui->loopClosure_roi->text()); _ui->lineEdit_kp_roi->setText(_ui->loopClosure_roi->text());
_ui->subpix_winSize_kp->setValue(_ui->subpix_winSize->value()); _ui->subpix_winSize_kp->setValue(_ui->subpix_winSize->value());
_ui->subpix_iterations_kp->setValue(_ui->subpix_iterations->value()); _ui->subpix_iterations_kp->setValue(_ui->subpix_iterations->value());

321
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>681</width> <width>681</width>
<height>2026</height> <height>2010</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>12</number> <number>7</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -5025,19 +5025,6 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1">
<widget class="QLabel" name="label_101">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1"> <item row="4" column="1">
<widget class="QLabel" name="label_81"> <widget class="QLabel" name="label_81">
<property name="toolTip"> <property name="toolTip">
@@ -5057,7 +5044,71 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="0"> <item row="8" column="1">
<widget class="QLabel" name="label_99">
<property name="text">
<string>Top ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.250000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_57">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
<string>Minimum words depth. Only used when a depth image is provided. Applied before &quot;Maximum words per image&quot;.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_101">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLineEdit" name="lineEdit_kp_roi"> <widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly"> <property name="readOnly">
<bool>true</bool> <bool>true</bool>
@@ -5137,7 +5188,7 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="0"> <item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1"> <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
<property name="suffix"> <property name="suffix">
<string> %</string> <string> %</string>
@@ -5147,19 +5198,6 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="1">
<widget class="QLabel" name="label_99">
<property name="text">
<string>Top ROI ratio (0 = no change).</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="1"> <item row="0" column="1">
<widget class="QLabel" name="label_117"> <widget class="QLabel" name="label_117">
<property name="text"> <property name="text">
@@ -5208,26 +5246,7 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="6" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.250000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0"> <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
<property name="suffix"> <property name="suffix">
<string> %</string> <string> %</string>
@@ -5237,7 +5256,7 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1"> <item row="6" column="1">
<widget class="QLabel" name="label_97"> <widget class="QLabel" name="label_97">
<property name="text"> <property name="text">
<string>Left ROI ratio (0 = no change).</string> <string>Left ROI ratio (0 = no change).</string>
@@ -5250,7 +5269,7 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="1"> <item row="7" column="1">
<widget class="QLabel" name="label_98"> <widget class="QLabel" name="label_98">
<property name="text"> <property name="text">
<string>Right ROI ratio (0 = no change).</string> <string>Right ROI ratio (0 = no change).</string>
@@ -5263,7 +5282,7 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="0"> <item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2"> <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
<property name="suffix"> <property name="suffix">
<string> %</string> <string> %</string>
@@ -5273,7 +5292,7 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="0"> <item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3"> <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
<property name="suffix"> <property name="suffix">
<string> %</string> <string> %</string>
@@ -5283,7 +5302,7 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="1"> <item row="9" column="1">
<widget class="QLabel" name="label_100"> <widget class="QLabel" name="label_100">
<property name="text"> <property name="text">
<string>Bottom ROI ratio (0 = no change).</string> <string>Bottom ROI ratio (0 = no change).</string>
@@ -5296,25 +5315,6 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1">
<widget class="QLabel" name="label_57">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
<string>Minimum words depth. Only used when a depth image is provided. Applied before &quot;Maximum words per image&quot;.</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"> <item row="2" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_minDepth"> <widget class="QDoubleSpinBox" name="surf_doubleSpinBox_minDepth">
<property name="suffix"> <property name="suffix">
@@ -5337,35 +5337,6 @@ generate the number of words requested.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1">
<widget class="QLabel" name="label_123">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
<string>Use depth image as mask for feature detection.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_useDepthAsMask">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>
@@ -8914,6 +8885,68 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</item> </item>
<item> <item>
<layout class="QGridLayout" name="gridLayout_25" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_25" columnstretch="0,1">
<item row="3" column="1">
<widget class="QLabel" name="label_237">
<property name="text">
<string>Maximum feature depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_261">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLineEdit" name="loopClosure_roi"/>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="reextract_maxFeatures">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_180">
<property name="text">
<string>Max features extracted from the images (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_275">
<property name="text">
<string>Minimum feature depth.</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="0"> <item row="1" column="0">
<widget class="QComboBox" name="reextract_type"> <widget class="QComboBox" name="reextract_type">
<property name="currentIndex"> <property name="currentIndex">
@@ -8987,55 +9020,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1">
<widget class="QLabel" name="label_237">
<property name="text">
<string>Maximum feature depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_261">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLineEdit" name="loopClosure_roi"/>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="reextract_maxFeatures">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_180">
<property name="text">
<string>Max features extracted from the images (0 means inf).</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"> <item row="1" column="1">
<widget class="QLabel" name="label_178"> <widget class="QLabel" name="label_178">
<property name="text"> <property name="text">
@@ -9046,19 +9030,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="1">
<widget class="QLabel" name="label_275">
<property name="text">
<string>Minimum feature depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0"> <item row="4" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowMinDepth"> <widget class="QDoubleSpinBox" name="loopClosure_bowMinDepth">
<property name="suffix"> <property name="suffix">
@@ -9072,26 +9043,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1">
<widget class="QLabel" name="label_290">
<property name="text">
<string>Use depth image as mask for feature detection.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="loopClosure_useDepthAsMask">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>