mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added ZED parameters
This commit is contained in:
matlabbe
@@ -881,64 +881,78 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
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(odom.data().cameraModels().size() || odom.data().stereoCameraModel().isValidForProjection()) &&
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_preferencesDialog->isCloudsShown(1))
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{
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
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pcl::IndicesPtr indices(new std::vector<int>);
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cloud = util3d::cloudRGBFromSensorData(odom.data(),
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_preferencesDialog->getCloudDecimation(1),
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_preferencesDialog->getCloudMaxDepth(1),
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_preferencesDialog->getCloudMinDepth(1),
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indices.get(),
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_preferencesDialog->getAllParameters());
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if(indices->size())
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if(odom.data().imageRaw().cols % _preferencesDialog->getCloudDecimation(1) != 0 ||
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odom.data().imageRaw().rows % _preferencesDialog->getCloudDecimation(1) != 0)
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{
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UERROR("Decimation (%d) is not modulo of the image resolution (%dx%d)! The cloud cannot be "
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"created. Go to Preferences->3D Rendering under \"Odom\" column to modify this parameter.",
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_preferencesDialog->getCloudDecimation(1),
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odom.data().imageRaw().cols,
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odom.data().imageRaw().rows);
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}
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else
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{
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cloud = util3d::transformPointCloud(cloud, pose);
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if(_preferencesDialog->isCloudMeshing())
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
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pcl::IndicesPtr indices(new std::vector<int>);
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cloud = util3d::cloudRGBFromSensorData(odom.data(),
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_preferencesDialog->getCloudDecimation(1),
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_preferencesDialog->getCloudMaxDepth(1),
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_preferencesDialog->getCloudMinDepth(1),
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indices.get(),
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_preferencesDialog->getAllParameters());
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if(indices->size())
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{
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// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
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output = util3d::extractIndices(cloud, indices, false, true);
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cloud = util3d::transformPointCloud(cloud, pose);
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// Fast organized mesh
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Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
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if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
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if(_preferencesDialog->isCloudMeshing())
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{
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viewpoint[0] = odom.data().cameraModels()[0].localTransform().x();
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viewpoint[1] = odom.data().cameraModels()[0].localTransform().y();
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viewpoint[2] = odom.data().cameraModels()[0].localTransform().z();
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// we need to extract indices as pcl::OrganizedFastMesh doesn't take indices
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
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output = util3d::extractIndices(cloud, indices, false, true);
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// Fast organized mesh
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Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
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if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
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{
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viewpoint[0] = odom.data().cameraModels()[0].localTransform().x();
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viewpoint[1] = odom.data().cameraModels()[0].localTransform().y();
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viewpoint[2] = odom.data().cameraModels()[0].localTransform().z();
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}
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else if(!odom.data().stereoCameraModel().localTransform().isNull())
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{
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viewpoint[0] = odom.data().stereoCameraModel().localTransform().x();
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viewpoint[1] = odom.data().stereoCameraModel().localTransform().y();
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viewpoint[2] = odom.data().stereoCameraModel().localTransform().z();
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}
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std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
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output,
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_preferencesDialog->getCloudMeshingAngle(),
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_preferencesDialog->isCloudMeshingQuad(),
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_preferencesDialog->getCloudMeshingTriangleSize(),
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Eigen::Vector3f(pose.x(), pose.y(), pose.z()) + viewpoint);
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if(polygons.size())
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{
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if(!_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
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{
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UERROR("Adding cloudOdom to viewer failed!");
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}
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}
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}
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else if(!odom.data().stereoCameraModel().localTransform().isNull())
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else
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{
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viewpoint[0] = odom.data().stereoCameraModel().localTransform().x();
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viewpoint[1] = odom.data().stereoCameraModel().localTransform().y();
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viewpoint[2] = odom.data().stereoCameraModel().localTransform().z();
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}
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std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
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output,
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_preferencesDialog->getCloudMeshingAngle(),
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_preferencesDialog->isCloudMeshingQuad(),
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_preferencesDialog->getCloudMeshingTriangleSize(),
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Eigen::Vector3f(pose.x(), pose.y(), pose.z()) + viewpoint);
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if(polygons.size())
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{
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if(!_cloudViewer->addCloudMesh("cloudOdom", output, polygons, _odometryCorrection))
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if(!_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection))
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{
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UERROR("Adding cloudOdom to viewer failed!");
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}
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}
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}
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else
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{
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if(!_cloudViewer->addCloud("cloudOdom", cloud, _odometryCorrection))
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{
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UERROR("Adding cloudOdom to viewer failed!");
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}
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}
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_cloudViewer->setCloudVisibility("cloudOdom", true);
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_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
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_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
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_cloudViewer->setCloudVisibility("cloudOdom", true);
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_cloudViewer->setCloudOpacity("cloudOdom", _preferencesDialog->getCloudOpacity(1));
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_cloudViewer->setCloudPointSize("cloudOdom", _preferencesDialog->getCloudPointSize(1));
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cloudUpdated = true;
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cloudUpdated = true;
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}
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}
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}
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@@ -2218,6 +2232,18 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
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pcl::IndicesPtr indices(new std::vector<int>);
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UASSERT(nodeId == data.id());
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if(image.cols % _preferencesDialog->getCloudDecimation(0) != 0 ||
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image.rows % _preferencesDialog->getCloudDecimation(0) != 0)
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{
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UERROR("Decimation (%d) is not modulo of the image resolution (%dx%d)! The cloud cannot be "
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"created. Go to Preferences->3D Rendering under \"Map\" column to modify this parameter.",
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_preferencesDialog->getCloudDecimation(0),
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image.cols,
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image.rows);
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return;
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}
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// Create organized cloud
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cloudWithoutNormals = util3d::cloudRGBFromSensorData(data,
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_preferencesDialog->getCloudDecimation(0),
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@@ -471,7 +471,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->lineEdit_cameraStereoVideo_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_stereoVideo_rectify, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_stereoZed_computeDisparity, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_stereoZed_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_stereoZed_quality, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_stereoZed_sensingMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->spinBox_stereoZed_confidenceThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_zedSvoPath, SIGNAL(clicked()), this, SLOT(selectSourceSvoPath()));
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connect(_ui->lineEdit_zedSvoPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -1278,7 +1283,11 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->checkBox_stereoImages_rectify->setChecked(false);
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_ui->lineEdit_cameraStereoVideo_path->setText("");
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_ui->checkBox_stereoVideo_rectify->setChecked(false);
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_ui->checkBox_stereoZed_computeDisparity->setChecked(true);
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_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
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_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
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_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(1);
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_ui->spinBox_stereoZed_confidenceThr->setValue(100);
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_ui->lineEdit_zedSvoPath->clear();
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_ui->checkBox_cameraImages_timestamps->setChecked(false);
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_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
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@@ -1604,7 +1613,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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settings.endGroup(); // StereoVideo
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settings.beginGroup("StereoZed");
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_ui->checkBox_stereoZed_computeDisparity->setChecked(settings.value("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked()).toBool());
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_ui->comboBox_stereoZed_resolution->setCurrentIndex(settings.value("resolution", _ui->comboBox_stereoZed_resolution->currentIndex()).toInt());
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_ui->comboBox_stereoZed_quality->setCurrentIndex(settings.value("quality", _ui->comboBox_stereoZed_quality->currentIndex()).toInt());
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_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(settings.value("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex()).toInt());
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_ui->spinBox_stereoZed_confidenceThr->setValue(settings.value("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value()).toInt());
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_ui->lineEdit_zedSvoPath->setText(settings.value("svo_path", _ui->lineEdit_zedSvoPath->text()).toString());
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settings.endGroup(); // StereoZed
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@@ -1993,7 +2006,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.endGroup(); // StereoVideo
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settings.beginGroup("StereoZed");
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settings.setValue("compute_disp", _ui->checkBox_stereoZed_computeDisparity->isChecked());
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settings.setValue("resolution", _ui->comboBox_stereoZed_resolution->currentIndex());
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settings.setValue("quality", _ui->comboBox_stereoZed_quality->currentIndex());
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settings.setValue("sensing_mode", _ui->comboBox_stereoZed_sensingMode->currentIndex());
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settings.setValue("confidence_thr", _ui->spinBox_stereoZed_confidenceThr->value());
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settings.setValue("svo_path", _ui->lineEdit_zedSvoPath->text());
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settings.endGroup(); // StereoZed
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@@ -2833,6 +2850,20 @@ void PreferencesDialog::selectSourceOni2Path()
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}
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}
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void PreferencesDialog::selectSourceSvoPath()
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{
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QString dir = _ui->lineEdit_zedSvoPath->text();
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if(dir.isEmpty())
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{
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dir = getWorkingDirectory();
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}
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QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_zedSvoPath->text(), tr("ZED (*.svo)"));
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if(!path.isEmpty())
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{
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_ui->lineEdit_zedSvoPath->setText(path);
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}
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}
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void PreferencesDialog::setParameter(const std::string & key, const std::string & value)
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{
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UDEBUG("%s=%s", key.c_str(), value.c_str());
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@@ -3988,10 +4019,27 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
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}
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else if (driver == kSrcStereoZed)
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{
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camera = new CameraStereoZed(
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_ui->checkBox_stereoZed_computeDisparity->isChecked(),
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this->getGeneralInputRate(),
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this->getSourceLocalTransform());
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if(!_ui->lineEdit_zedSvoPath->text().isEmpty())
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{
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camera = new CameraStereoZed(
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_ui->lineEdit_zedSvoPath->text().toStdString(),
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_ui->comboBox_stereoZed_quality->currentIndex(),
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_ui->comboBox_stereoZed_sensingMode->currentIndex(),
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_ui->spinBox_stereoZed_confidenceThr->value(),
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this->getGeneralInputRate(),
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this->getSourceLocalTransform());
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}
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else
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{
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camera = new CameraStereoZed(
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this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
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_ui->comboBox_stereoZed_resolution->currentIndex(),
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_ui->comboBox_stereoZed_quality->currentIndex(),
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_ui->comboBox_stereoZed_sensingMode->currentIndex(),
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_ui->spinBox_stereoZed_confidenceThr->value(),
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this->getGeneralInputRate(),
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this->getSourceLocalTransform());
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}
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}
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else if(driver == kSrcUsbDevice)
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{
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@@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>984</width>
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<height>693</height>
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<height>713</height>
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</rect>
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</property>
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<property name="sizePolicy">
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@@ -63,25 +63,16 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>685</width>
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<height>1826</height>
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<y>-477</y>
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<width>686</width>
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<height>2023</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="leftMargin">
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<number>0</number>
|
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</property>
|
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<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
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<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<property name="margin">
|
||||
<number>0</number>
|
||||
</property>
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<item>
|
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@@ -2120,7 +2111,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
|
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<widget class="QStackedWidget" name="stackedWidget_rgbd">
|
||||
<property name="currentIndex">
|
||||
<number>6</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_32">
|
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<layout class="QVBoxLayout" name="verticalLayout_63">
|
||||
@@ -2788,7 +2779,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_240">
|
||||
<property name="text">
|
||||
<string>Driver</string>
|
||||
<string>Driver.</string>
|
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</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -2805,7 +2796,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="1" column="2">
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||||
<widget class="QLabel" name="label_247">
|
||||
<property name="text">
|
||||
<string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images.</string>
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<string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can found under StereoBM tab.</string>
|
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</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -2817,7 +2808,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<item>
|
||||
<widget class="QStackedWidget" name="stackedWidget_stereo">
|
||||
<property name="currentIndex">
|
||||
<number>5</number>
|
||||
<number>4</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_49">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_91">
|
||||
@@ -3038,32 +3029,135 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<property name="title">
|
||||
<string>Zed sdk</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_102">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_stereoZed_computeDisparity">
|
||||
<layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
|
||||
<item row="2" column="0">
|
||||
<widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>FULL</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RAW</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_8">
|
||||
<item>
|
||||
<widget class="QToolButton" name="toolButton_zedSvoPath">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="lineEdit_zedSvoPath">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_272">
|
||||
<property name="text">
|
||||
<string>Compute disparity with the GPU (using Zed sdk approach). Note that "Generate disparity image..." above will be ignored if set.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QComboBox" name="comboBox_stereoZed_resolution">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>HD2K</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>HD1080</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>HD720</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>VGA</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_274">
|
||||
<property name="text">
|
||||
<string>Resolution. Not used when a SVO file is used.</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="QComboBox" name="comboBox_stereoZed_quality">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>NONE</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>PERFORMANCE</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>QUALITY</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_290">
|
||||
<property name="text">
|
||||
<string>Quality. If NONE, the disparity is not computed on the GPU.</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="QLabel" name="label_291">
|
||||
<property name="text">
|
||||
<string>Sensing mode.</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_305">
|
||||
<property name="text">
|
||||
<string>Path to a *.SVO file.</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">
|
||||
<spacer name="verticalSpacer_54">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
@@ -3071,11 +3165,31 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
<height>13</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_306">
|
||||
<property name="text">
|
||||
<string>Filtering value for the disparity map (and by extension the depth map). A lower value means more confidence and precision (but less density), an upper value reduces the filtering (more density, less certainty).</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="0">
|
||||
<widget class="QSpinBox" name="spinBox_stereoZed_confidenceThr">
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -3514,16 +3628,7 @@ 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>
|
||||
@@ -3531,7 +3636,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_255">
|
||||
<property name="text">
|
||||
<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png"</string>
|
||||
<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png".</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -8680,16 +8785,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
<widget class="QWidget" name="page_54">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_85">
|
||||
<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>
|
||||
@@ -8829,16 +8925,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_55">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_86">
|
||||
<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>
|
||||
@@ -8996,16 +9083,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<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>
|
||||
@@ -9085,16 +9163,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<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>
|
||||
@@ -9206,16 +9275,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<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>
|
||||
|
||||
Reference in New Issue
Block a user