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Added parameter "Rtabmap/RectifyOnlyFeatures". Added support of fisheye distortion model.

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matlabbe
2018-09-24 14:36:54 -04:00
parent f903ffb927
commit c341648a44
14 changed files with 425 additions and 146 deletions
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108
guilib/src/ui/preferencesDialog.ui
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@@ -95,7 +95,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>681</width>
<width>678</width>
<height>2943</height>
</rect>
</property>
@@ -103,16 +103,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -126,7 +117,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>16</number>
<number>7</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -5093,16 +5084,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -6290,6 +6272,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<layout class="QGridLayout" name="gridLayout_43" columnstretch="0,1">
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate">
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_SLAM_mode">
<property name="text">
@@ -6383,19 +6378,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate">
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_165">
<property name="text">
@@ -6455,6 +6437,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_498">
<property name="text">
<string>Rectify only features. If images are not already rectified (see parameter above) and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_rectifyOnlyFeatures">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -15276,16 +15281,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -15365,16 +15361,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -15486,16 +15473,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>