mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
Added Feature2D::parseParameters() git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
File diff suppressed because it is too large
Load Diff
@@ -87,9 +87,9 @@ bool ImageView::isFeaturesShown()
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void ImageView::setFeaturesShown(bool shown)
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{
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_showFeatures->setChecked(shown);
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for(int i=0; i<_features.size(); ++i)
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for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
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{
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_features[i]->setVisible(_showFeatures->isChecked());
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iter.value()->setVisible(_showFeatures->isChecked());
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}
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}
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@@ -236,11 +236,7 @@ void ImageView::wheelEvent(QWheelEvent * e)
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void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
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{
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for(int i=0; i<_features.size(); ++i)
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{
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scene()->removeItem(_features[i]);
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delete _features[i];
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}
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qDeleteAll(_features);
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_features.clear();
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rtabmap::KeypointItem * item = 0;
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@@ -261,7 +257,7 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
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item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alpha));
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scene()->addItem(item);
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_features.append(item);
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_features.insert(id, item);
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item->setVisible(_showFeatures->isChecked());
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item->setZValue(1);
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}
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@@ -297,13 +293,51 @@ void ImageView::setImageDepth(const QImage & imageDepth)
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}
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}
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void ImageView::setFeatureColor(int id, const QColor & color)
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{
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QList<KeypointItem*> items = _features.values(id);
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if(items.size())
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{
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for(int i=0; i<items.size(); ++i)
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{
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items[i]->setPen(QPen(color));
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items[i]->setBrush(QBrush(color));
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}
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}
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else
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{
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UWARN("Not found feature %d", id);
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}
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}
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void ImageView::setFeaturesColor(const QColor & color)
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{
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for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
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{
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iter.value()->setPen(QPen(color));
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iter.value()->setBrush(QBrush(color));
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}
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}
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void ImageView::clearLines()
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{
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if(this->scene())
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{
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QList<QGraphicsItem*> items = this->scene()->items();
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for(int i=0; i<items.size(); ++i)
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{
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QGraphicsLineItem * line = qgraphicsitem_cast<QGraphicsLineItem*>(items[i]);
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if(line)
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{
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delete line;
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}
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}
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}
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}
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void ImageView::clear()
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{
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for(int i=0; i<_features.size(); ++i)
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{
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scene()->removeItem(_features[i]);
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delete _features[i];
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}
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qDeleteAll(_features);
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_features.clear();
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if(_image)
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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>1076</width>
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<height>637</height>
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<height>582</height>
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</rect>
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</property>
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<property name="windowTitle">
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@@ -260,7 +260,7 @@
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<x>0</x>
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<y>0</y>
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<width>1076</width>
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<height>22</height>
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<height>25</height>
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</rect>
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</property>
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<widget class="QMenu" name="menuFile">
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@@ -282,6 +282,10 @@
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<addaction name="actionGenerate_local_graph_dot"/>
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<addaction name="actionGenerate_TORO_graph_graph"/>
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<addaction name="separator"/>
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<addaction name="actionDetect_more_loop_closures"/>
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<addaction name="actionRefine_all_neighbor_links"/>
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<addaction name="actionRefine_all_loop_closure_links"/>
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<addaction name="separator"/>
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<addaction name="actionClean_database"/>
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<addaction name="actionClean_local_graph"/>
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<addaction name="separator"/>
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@@ -309,13 +313,6 @@
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<item>
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<widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
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</item>
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<item>
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<widget class="QLabel" name="label_constraint">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QFormLayout" name="formLayout">
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<property name="fieldGrowthPolicy">
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@@ -355,6 +352,79 @@
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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_constraint">
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<property name="text">
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<string/>
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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="QLabel" name="label_16">
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<property name="text">
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<string>Transform</string>
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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="QLabel" name="label_18">
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<property name="text">
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<string>Fitness</string>
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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_fitness">
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<property name="text">
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<string>-</string>
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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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<layout class="QHBoxLayout" name="horizontalLayout_5">
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<item>
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<widget class="QPushButton" name="pushButton_refine">
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<property name="text">
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<string>Refine (ICP)</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="pushButton_reset">
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<property name="text">
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<string>Reset</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="pushButton_add">
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<property name="text">
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<string>Add</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QPushButton" name="pushButton_reject">
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<property name="text">
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<string>Reject</string>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</item>
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</layout>
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@@ -464,6 +534,371 @@
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</layout>
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</widget>
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</widget>
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<widget class="QDockWidget" name="dockWidget_icp">
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<property name="windowTitle">
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<string>ICP parameters</string>
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</property>
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<attribute name="dockWidgetArea">
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<number>2</number>
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</attribute>
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<widget class="QWidget" name="dockWidgetContents_3">
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<layout class="QVBoxLayout" name="verticalLayout_11">
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<item>
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<layout class="QGridLayout" name="gridLayout_4" columnminimumwidth="1,0">
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<item row="0" column="0">
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<widget class="QLabel" name="label_14">
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<property name="text">
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<string>Decimation</string>
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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="QSpinBox" name="spinBox_icp_decimation">
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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>8</number>
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</property>
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<property name="value">
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<number>4</number>
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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="QLabel" name="label_17">
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<property name="text">
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<string>Max depth</string>
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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="QDoubleSpinBox" name="doubleSpinBox_icp_maxDepth">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="maximum">
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<double>100.000000000000000</double>
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</property>
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<property name="value">
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<double>2.000000000000000</double>
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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="QLabel" name="label_13">
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<property name="text">
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<string>Voxel</string>
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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="QDoubleSpinBox" name="doubleSpinBox_icp_voxel">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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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="value">
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<double>0.005000000000000</double>
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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="QLabel" name="label_12">
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<property name="text">
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<string>Max correspondence distance</string>
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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="QDoubleSpinBox" name="doubleSpinBox_icp_maxCorrespDistance">
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<property name="suffix">
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||||
<string> m</string>
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</property>
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||||
<property name="decimals">
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<number>3</number>
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||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
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||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
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||||
</property>
|
||||
<property name="value">
|
||||
<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="4" column="0">
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||||
<widget class="QLabel" name="label_15">
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||||
<property name="text">
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||||
<string>Iteration</string>
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||||
</property>
|
||||
</widget>
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||||
</item>
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||||
<item row="4" column="1">
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||||
<widget class="QSpinBox" name="spinBox_icp_iteration">
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||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>30</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>Point to plane</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_icp_p2plane">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLabel" name="label_20">
|
||||
<property name="text">
|
||||
<string>Normal K neighbors</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_icp_normalKSearch">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>20</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>31</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QDockWidget" name="dockWidget_visual">
|
||||
<property name="windowTitle">
|
||||
<string>Visual parameters</string>
|
||||
</property>
|
||||
<attribute name="dockWidgetArea">
|
||||
<number>1</number>
|
||||
</attribute>
|
||||
<widget class="QWidget" name="dockWidgetContents_4">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_3" columnminimumwidth="1,0">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_24">
|
||||
<property name="text">
|
||||
<string>Recompute features (SURF)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_visual_recomputeFeatures">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_25">
|
||||
<property name="text">
|
||||
<string>SURF hessian threshold</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_hessian">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100000.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>150.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_26">
|
||||
<property name="text">
|
||||
<string>NNDR</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_nndr">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.800000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="text">
|
||||
<string>Min correspondences</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_visual_minCorrespondences">
|
||||
<property name="minimum">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>3</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="text">
|
||||
<string>Max correspondence distance</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxCorrespDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<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="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="label_23">
|
||||
<property name="text">
|
||||
<string>Iteration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_visual_iteration">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>30</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLabel" name="label_19">
|
||||
<property name="text">
|
||||
<string>Max feature depth</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>4.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<action name="actionOpen_database">
|
||||
<property name="text">
|
||||
<string>Open database</string>
|
||||
@@ -529,6 +964,21 @@
|
||||
<string>Generate TORO graph (*.graph)...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionRefine_all_neighbor_links">
|
||||
<property name="text">
|
||||
<string>Refine all neighbor links...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionRefine_all_loop_closure_links">
|
||||
<property name="text">
|
||||
<string>Refine all loop closure links...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionDetect_more_loop_closures">
|
||||
<property name="text">
|
||||
<string>Detect more loop closures...</string>
|
||||
</property>
|
||||
</action>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
<customwidget>
|
||||
|
||||
Reference in New Issue
Block a user