mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Added GMS matching approach (Vis/CorNNType=7). Added GMS/ parameters. Added SuperGlue/Indoor parameter. ImageView: updating feature and line colors directly when changing color (option menu), fixed items already added to scene warning when switching to GraphicsView.
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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@@ -17042,129 +17042,158 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<property name="text">
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<property name="text">
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<string>SuperGlue PyTorch</string>
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<property name="text">
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(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
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Lower the ratio -> higher the precision.</string>
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<widget class="QSpinBox" name="spinBox_visCorGuessWinSize">
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<property name="suffix">
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<string> pixels</string>
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<number>0</number>
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<bool>true</bool>
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox__visCorGuessMatchToProjection">
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<widget class="QLabel" name="label_448">
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<property name="text">
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||||
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<bool>true</bool>
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<item row="2" column="1">
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<widget class="QLabel" name="label_303">
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<property name="text">
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<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>
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||||
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||||
<property name="wordWrap">
|
||||
<bool>true</bool>
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<spacer name="verticalSpacer_44">
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@@ -17177,24 +17206,284 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</spacer>
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||||
<item row="3" column="1">
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||||
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<property name="text">
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||||
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|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
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|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
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||||
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||||
<property name="title">
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||||
<string>SuperGlue</string>
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||||
</property>
|
||||
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||||
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||||
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||||
<property name="text">
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||||
<string><html><head/><body><p>Python wrapper of <a href="https://github.com/magicleap/SuperGluePretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperGlue</span></a> project. Download <a href="https://github.com/introlab/rtabmap/blob/master/corelib/src/superglue_pytorch/rtabmap_superglue.py"><span style=" text-decoration: underline; color:#0000ff;">rtabmap_superpoint.py</span></a> and copy it at the root folder of SuperGlue git, then set its path below. <span style=" font-weight:600;">Important</span>: SuperGlue works only with SuperPoint descriptors!</p></body></html></string>
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<item>
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||||
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<string>...</string>
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||||
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||||
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||||
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||||
<string>Match threshold.</string>
|
||||
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||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
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|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
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<property name="decimals">
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<number>3</number>
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|
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<double>0.001000000000000</double>
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<double>1.000000000000000</double>
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<double>0.010000000000000</double>
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<double>0.200000000000000</double>
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||||
<item row="1" column="2">
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<widget class="QLabel" name="label_584">
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<property name="text">
|
||||
<string>Iterations.</string>
|
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|
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||||
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|
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<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_583">
|
||||
<property name="text">
|
||||
<string>[Required] Path to rtabmap_superpoint.py.</string>
|
||||
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|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
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|
||||
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|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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|
||||
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|
||||
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|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
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|
||||
<property name="value">
|
||||
<number>20</number>
|
||||
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|
||||
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|
||||
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|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_587">
|
||||
<property name="text">
|
||||
<string>Cuda.</string>
|
||||
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|
||||
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|
||||
<bool>true</bool>
|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_590">
|
||||
<property name="text">
|
||||
<string>Indoor model. Uncheck to use outdoor model.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
<item row="4" column="1">
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||||
<widget class="QCheckBox" name="checkBox_sgpytorch_indoor">
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||||
<property name="text">
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||||
<string/>
|
||||
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|
||||
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||||
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||||
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<item>
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|
||||
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||||
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|
||||
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|
||||
<size>
|
||||
<width>0</width>
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||||
<height>0</height>
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||||
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||||
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||||
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||||
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<widget class="QCheckBox" name="checkBox__visCorGuessMatchToProjection">
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||||
<string/>
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||||
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||||
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|
||||
<property name="title">
|
||||
<string>GMS</string>
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||||
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||||
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||||
<item>
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||||
<widget class="QLabel" name="label_588">
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|
||||
<string><html><head/><body><p>OpenCV implementation of <a href="https://github.com/JiawangBian/GMS-Feature-Matcher"><span style=" text-decoration: underline; color:#0000ff;">GMS</span></a>. Since GMS works well when the number of features is large, it is recommended to use the ORB feature and set FastThreshold to 0 to get as many as possible features quickly. If matching results are not satisfying, please add more features (they used 10000 for images of size 640 X 480). If your images have big rotation and scale changes, please set withRotation or withScale to true.</p></body></html></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_117" columnstretch="0,1">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_592">
|
||||
<property name="text">
|
||||
<string>With rotation. Take rotation transformation into account.</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="0">
|
||||
<widget class="QCheckBox" name="checkBox_gms_withRotation">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_589">
|
||||
<property name="text">
|
||||
<string>Theshold factor. The higher, the less matches.</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="QDoubleSpinBox" name="gms_thresholdFactor">
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.200000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_593">
|
||||
<property name="text">
|
||||
<string>With Scale. Take scale transformation into account.</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">
|
||||
<widget class="QCheckBox" name="checkBox_gms_withScale">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_87">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
@@ -17518,7 +17807,7 @@ Lower the ratio -> higher the precision.</string>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_46" stretch="0,0,1,0">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_46" stretch="0,0,1">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_182">
|
||||
<property name="text">
|
||||
@@ -17902,152 +18191,6 @@ Lower the ratio -> higher the precision.</string>
|
||||
</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><html><head/><body><p>Python wrapper of <a href="https://github.com/magicleap/SuperGluePretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperGlue</span></a> project. Download <a href="https://github.com/introlab/rtabmap/blob/master/corelib/src/superglue_pytorch/rtabmap_superglue.py"><span style=" text-decoration: underline; color:#0000ff;">rtabmap_superpoint.py</span></a> and copy it at the root folder of SuperGlue git, then set its path below. <span style=" font-weight:600;">Important</span>: SuperGlue works only with SuperPoint descriptors!</p></body></html></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>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user