mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Disabled FAST parameters OpenCV2 related parameters in OpenCV3
This commit is contained in:
matlabbe
@@ -171,6 +171,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->reextract_type->setItemData(6, 0, Qt::UserRole - 1);
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#endif
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}
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#if CV_MAJOR_VERSION == 3
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_ui->groupBox_fast_opencv2->setEnabled(false);
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#endif
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_ui->comboBox_cameraImages_gtFormat->setItemData(4, 0, Qt::UserRole - 1);
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if(!Optimizer::isAvailable(Optimizer::kTypeG2O))
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{
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@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-591</y>
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<y>0</y>
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<width>681</width>
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<height>2010</height>
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</rect>
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>16</number>
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<number>23</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -10612,161 +10612,170 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QCheckBox" name="fastGpu">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_fastGPU">
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<property name="text">
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<string>GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="fastKeypointRatio">
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.050000000000000</double>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_fastGPUKptRatio">
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<property name="text">
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<string>Used with FAST GPU.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_104">
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<property name="text">
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<string>Grid rows (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QSpinBox" name="fastGridRows">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QSpinBox" name="fastGridCols">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_109">
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<property name="text">
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<string>Grid cols (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_111">
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<property name="text">
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<string>Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_115">
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<property name="text">
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<string>Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="fastThresholdMin">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>50</number>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="fastThresholdMax">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>50</number>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_fast_opencv2">
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<property name="title">
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<string>OpenCV 2</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_71" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QSpinBox" name="fastThresholdMin">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>50</number>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_111">
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<property name="text">
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<string>Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QSpinBox" name="fastThresholdMax">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>50</number>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_115">
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<property name="text">
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<string>Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="fastGridRows">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_104">
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<property name="text">
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<string>Grid rows (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="fastGridCols">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_109">
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<property name="text">
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<string>Grid cols (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="fastGpu">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_fastGPU">
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<property name="text">
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<string>GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="fastKeypointRatio">
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.050000000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_fastGPUKptRatio">
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<property name="text">
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<string>Used with FAST GPU.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer_16">
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<property name="orientation">
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