i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.19.7: added SuperPoint Torch feature support. RegVis: keep Feature2D detectors as class members instead of recreating them at each registration.

Browse Source
This commit is contained in:
matlabbe
2020-04-16 17:59:45 -04:00
parent 2ff582f06f
commit f575652456
16 changed files with 939 additions and 140 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
guilib/src/AboutDialog.cpp
View File

@@ -66,6 +66,13 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_orboctree->setText("No");
_ui->label_orboctree_license->setEnabled(false);
#endif
#ifdef RTABMAP_SP_TORCH
_ui->label_sptorch->setText("Yes");
_ui->label_sptorch_license->setEnabled(true);
#else
_ui->label_sptorch->setText("No");
_ui->label_sptorch_license->setEnabled(false);
#endif
#ifdef RTABMAP_FASTCV
_ui->label_fastcv->setText("Yes");
_ui->label_fastcv_license->setEnabled(true);

70
guilib/src/PreferencesDialog.cpp
View File

@@ -194,8 +194,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1);
#if CV_MAJOR_VERSION >= 3
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
@@ -204,25 +204,30 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_detector_strategy->setItemData(4, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(5, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(6, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(0, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(1, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(3, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(4, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(5, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(6, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(0, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(1, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(3, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(4, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(5, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(6, 0, Qt::UserRole - 1);
#endif
#endif
#ifndef RTABMAP_ORB_OCTREE
_ui->comboBox_detector_strategy->setItemData(10, 0, Qt::UserRole - 1);
_ui->reextract_type->setItemData(10, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(10, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_SP_TORCH
_ui->comboBox_detector_strategy->setItemData(11, 0, Qt::UserRole - 1);
_ui->vis_feature_detector->setItemData(11, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION >= 3
_ui->groupBox_fast_opencv2->setEnabled(false);
#else
_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
_ui->vis_feature_detector->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
#endif
_ui->comboBox_cameraImages_odomFormat->setItemData(4, 0, Qt::UserRole - 1);
@@ -935,6 +940,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_kaze_octavelayers->setObjectName(Parameters::kKAZENOctaveLayers().c_str());
_ui->spinBox_kaze_diffusivity->setObjectName(Parameters::kKAZEDiffusivity().c_str());
// SuperPoint Torch
_ui->lineEdit_sptorch_path->setObjectName(Parameters::kSPTorchModelPath().c_str());
connect(_ui->toolButton_sptorch_path, SIGNAL(clicked()), this, SLOT(changeSPTorchModelPath()));
_ui->doubleSpinBox_sptorch_threshold->setObjectName(Parameters::kSPTorchThreshold().c_str());
_ui->checkBox_sptorch_nms->setObjectName(Parameters::kSPTorchNMS().c_str());
_ui->spinBox_sptorch_minDistance->setObjectName(Parameters::kSPTorchMinDistance().c_str());
_ui->checkBox_sptorch_cuda->setObjectName(Parameters::kSPTorchCuda().c_str());
// verifyHypotheses
_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
_ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str());
@@ -1021,7 +1034,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
_ui->checkBox__visCorGuessMatchToProjection->setObjectName(Parameters::kVisCorGuessMatchToProjection().c_str());
_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
_ui->vis_feature_detector->setObjectName(Parameters::kVisFeatureType().c_str());
_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
_ui->reextract_gridrows->setObjectName(Parameters::kVisGridRows().c_str());
_ui->reextract_gridcols->setObjectName(Parameters::kVisGridCols().c_str());
@@ -2871,13 +2884,13 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
// BOW Reextract features type
if(_ui->reextract_type->currentIndex() <= 1)
if(_ui->vis_feature_detector->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (SURF/SIFT) is not available. RTAB-Map is not built "
"with the nonfree module from OpenCV. Fast/Brief is set instead for the re-extraction "
"of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureFastBrief);
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureFastBrief);
}
#endif
@@ -2896,18 +2909,18 @@ bool PreferencesDialog::validateForm()
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
#endif
}
if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureKaze)
if (_ui->vis_feature_detector->currentIndex() == Feature2D::kFeatureKaze)
{
#ifdef RTABMAP_NONFREE
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureSurf);
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureSurf);
#else
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureOrb);
#endif
}
#endif
@@ -2920,12 +2933,12 @@ bool PreferencesDialog::validateForm()
"for the bag-of-words dictionary."));
_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
}
if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureOrbOctree)
if (_ui->vis_feature_detector->currentIndex() == Feature2D::kFeatureOrbOctree)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Selected feature type (ORB Octree) is not available on OpenCV2. ORB is set instead "
"for the re-extraction of features on loop closure."));
_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
_ui->vis_feature_detector->setCurrentIndex(Feature2D::kFeatureOrb);
}
#endif
@@ -3057,7 +3070,7 @@ bool PreferencesDialog::validateForm()
}
// BOW Reextract features type
if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->reextract_type->currentIndex() <= 1)
if(_ui->reextract_nn->currentIndex() == VWDictionary::kNNFlannLSH && _ui->vis_feature_detector->currentIndex() <= 1)
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("With the selected feature type (SURF or SIFT), parameter \"Visual word->Nearest Neighbor\" "
@@ -4569,7 +4582,7 @@ void PreferencesDialog::useOdomFeatures()
if(r == QMessageBox::Yes)
{
_ui->comboBox_detector_strategy->setCurrentIndex(_ui->reextract_type->currentIndex());
_ui->comboBox_detector_strategy->setCurrentIndex(_ui->vis_feature_detector->currentIndex());
_ui->surf_doubleSpinBox_maxDepth->setValue(_ui->loopClosure_bowMaxDepth->value());
_ui->surf_doubleSpinBox_minDepth->setValue(_ui->loopClosure_bowMinDepth->value());
_ui->surf_spinBox_wordsPerImageTarget->setValue(_ui->reextract_maxFeatures->value());
@@ -4678,6 +4691,23 @@ void PreferencesDialog::changeIcpPMConfigPath()
}
}
void PreferencesDialog::changeSPTorchModelPath()
{
QString path;
if(_ui->lineEdit_sptorch_path->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), this->getWorkingDirectory(), tr("SuperPoint weights (*.pt)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_sptorch_path->text(), tr("SuperPoint weights (*.pt)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_sptorch_path->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);

201
guilib/src/ui/aboutDialog.ui
View File

@@ -64,7 +64,7 @@ p, li { white-space: pre-wrap; }
<item>
<widget class="QLabel" name="label_9">
<property name="text">
<string>RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D Graph-Based SLAM approach based on an incremental appearance-based loop closure detector. RTAB-Map can be used alone with a hand-held Kinect or stereo camera for 6DoF RGB-D mapping, or on a ROS compatible robot equipped with a laser rangefinder for 3DoF mapping.</string>
<string>RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D Graph-Based SLAM approach based on an incremental appearance-based loop closure detector. RTAB-Map can be used alone with a hand-held Kinect or stereo camera for 6DoF RGB-D mapping, or on a ROS compatible robot equipped with a laser rangefinder for 3DoF and 6DoF mapping.</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -162,9 +162,9 @@ p, li { white-space: pre-wrap; }
<property name="geometry">
<rect>
<x>0</x>
<y>-387</y>
<y>0</y>
<width>596</width>
<height>797</height>
<height>820</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
@@ -185,7 +185,7 @@ p, li { white-space: pre-wrap; }
</property>
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="14" column="0">
<item row="15" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
@@ -195,7 +195,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="0">
<item row="28" column="0">
<widget class="QLabel" name="label_25">
<property name="text">
<string>With FOVIS :</string>
@@ -205,7 +205,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="2">
<item row="28" column="2">
<widget class="QLabel" name="label_fovis_license">
<property name="text">
<string>GPLv2</string>
@@ -238,7 +238,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_realsense2">
<property name="text">
<string/>
@@ -251,7 +251,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="0">
<item row="32" column="0">
<widget class="QLabel" name="label_35">
<property name="text">
<string>With OKVIS :</string>
@@ -261,7 +261,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="1">
<item row="30" column="1">
<widget class="QLabel" name="label_dvo">
<property name="text">
<string/>
@@ -274,7 +274,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_openni2">
<property name="text">
<string/>
@@ -297,7 +297,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="2">
<item row="12" column="2">
<widget class="QLabel" name="label_realsense2_license">
<property name="text">
<string>Apache-2</string>
@@ -307,7 +307,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="1">
<item row="32" column="1">
<widget class="QLabel" name="label_okvis">
<property name="text">
<string/>
@@ -320,7 +320,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="0">
<item row="34" column="0">
<widget class="QLabel" name="label_34">
<property name="text">
<string>With MSCKF :</string>
@@ -330,7 +330,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="1">
<item row="24" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text">
<string/>
@@ -343,7 +343,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="1">
<item row="34" column="1">
<widget class="QLabel" name="label_msckf">
<property name="text">
<string/>
@@ -356,7 +356,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="label_openni2_license">
<property name="text">
<string>Apache v2</string>
@@ -376,7 +376,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>With K4W2 :</string>
@@ -386,7 +386,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QLabel" name="label_zed">
<property name="text">
<string/>
@@ -399,7 +399,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="0">
<item row="25" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
@@ -409,7 +409,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>With stereo dc1394 :</string>
@@ -419,7 +419,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="0">
<item row="29" column="0">
<widget class="QLabel" name="label_26">
<property name="text">
<string>With Viso2 :</string>
@@ -429,7 +429,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="0">
<item row="31" column="0">
<widget class="QLabel" name="label_28">
<property name="text">
<string>With ORB SLAM 2 :</string>
@@ -449,7 +449,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="1">
<item row="31" column="1">
<widget class="QLabel" name="label_orbslam2">
<property name="text">
<string/>
@@ -462,7 +462,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="2">
<item row="13" column="2">
<widget class="QLabel" name="label_dc1394_license">
<property name="text">
<string>LGPL</string>
@@ -472,7 +472,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="2">
<item row="29" column="2">
<widget class="QLabel" name="label_viso2_license">
<property name="text">
<string>GPLv3</string>
@@ -482,7 +482,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>With stereo FlyCapture2 :</string>
@@ -492,7 +492,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="0">
<item row="24" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
@@ -502,7 +502,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="0">
<item row="18" column="0">
<widget class="QLabel" name="label_77">
<property name="text">
<string>With TORO :</string>
@@ -512,7 +512,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="27" column="1">
<item row="28" column="1">
<widget class="QLabel" name="label_fovis">
<property name="text">
<string/>
@@ -525,7 +525,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="23" column="2">
<item row="24" column="2">
<widget class="QLabel" name="label_octomap_license">
<property name="text">
<string>BSD</string>
@@ -535,7 +535,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>With Freenect2 :</string>
@@ -545,7 +545,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="13" column="1">
<item row="14" column="1">
<widget class="QLabel" name="label_flycapture2">
<property name="text">
<string/>
@@ -568,7 +568,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="label_freenect2_license">
<property name="text">
<string>Apache v2 and/or GPLv2</string>
@@ -578,7 +578,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="1">
<item row="25" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text">
<string/>
@@ -591,7 +591,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QLabel" name="label_22">
<property name="text">
<string>With RealSense :</string>
@@ -601,7 +601,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="0">
<item row="21" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
@@ -611,7 +611,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="0">
<item row="19" column="0">
<widget class="QLabel" name="label_14">
<property name="text">
<string>With g2o :</string>
@@ -621,7 +621,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="1">
<item row="21" column="1">
<widget class="QLabel" name="label_cvsba">
<property name="text">
<string/>
@@ -634,7 +634,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="2">
<item row="8" column="2">
<widget class="QLabel" name="label_freenect_license">
<property name="text">
<string>Apache v2 and/or GPLv2</string>
@@ -644,7 +644,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="1">
<item row="20" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
@@ -670,7 +670,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="0">
<item row="20" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
@@ -680,7 +680,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QLabel" name="label_dc1394">
<property name="text">
<string/>
@@ -703,7 +703,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
@@ -713,7 +713,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_freenect">
<property name="text">
<string/>
@@ -736,7 +736,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="0">
<item row="23" column="0">
<widget class="QLabel" name="label_29">
<property name="text">
<string>With libpointmatcher :</string>
@@ -746,7 +746,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="1">
<item row="19" column="1">
<widget class="QLabel" name="label_g2o">
<property name="text">
<string/>
@@ -772,7 +772,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_freenect2">
<property name="text">
<string/>
@@ -785,7 +785,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QLabel" name="label_33">
<property name="text">
<string>With RealSense2 :</string>
@@ -795,7 +795,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="33" column="2">
<item row="34" column="2">
<widget class="QLabel" name="label_msckf_license">
<property name="text">
<string>Penn Software License</string>
@@ -805,7 +805,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_realsense">
<property name="text">
<string/>
@@ -818,7 +818,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="2">
<item row="30" column="2">
<widget class="QLabel" name="label_dvo_license">
<property name="text">
<string>GPLv3</string>
@@ -828,7 +828,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="0">
<item row="33" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>With loam_velodyne :</string>
@@ -861,7 +861,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="1">
<item row="26" column="1">
<widget class="QLabel" name="label_openchisel">
<property name="text">
<string/>
@@ -874,7 +874,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="19" column="2">
<item row="20" column="2">
<widget class="QLabel" name="label_gtsam_license">
<property name="text">
<string>BSD</string>
@@ -884,7 +884,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="1">
<item row="23" column="1">
<widget class="QLabel" name="label_libpointmatcher">
<property name="text">
<string/>
@@ -897,7 +897,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="1">
<item row="33" column="1">
<widget class="QLabel" name="label_loam">
<property name="text">
<string/>
@@ -910,7 +910,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>With OpenNI2 :</string>
@@ -920,7 +920,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="29" column="0">
<item row="30" column="0">
<widget class="QLabel" name="label_27">
<property name="text">
<string>With DVO :</string>
@@ -930,7 +930,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="28" column="1">
<item row="29" column="1">
<widget class="QLabel" name="label_viso2">
<property name="text">
<string/>
@@ -943,7 +943,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="30" column="2">
<item row="31" column="2">
<widget class="QLabel" name="label_orbslam2_license">
<property name="text">
<string>GPLv3</string>
@@ -953,7 +953,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="25" column="0">
<item row="26" column="0">
<widget class="QLabel" name="label_30">
<property name="text">
<string>With OpenChisel :</string>
@@ -976,7 +976,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="1">
<item row="18" column="1">
<widget class="QLabel" name="label_toro">
<property name="text">
<string/>
@@ -989,7 +989,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="18" column="2">
<item row="19" column="2">
<widget class="QLabel" name="label_g2o_license">
<property name="text">
<string>BSD</string>
@@ -999,7 +999,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="31" column="2">
<item row="32" column="2">
<widget class="QLabel" name="label_okvis_license">
<property name="text">
<string>BSD</string>
@@ -1009,7 +1009,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="32" column="2">
<item row="33" column="2">
<widget class="QLabel" name="label_loam_license">
<property name="text">
<string>BSD</string>
@@ -1039,7 +1039,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="22" column="2">
<item row="23" column="2">
<widget class="QLabel" name="label_libpointmatcher_license">
<property name="text">
<string>BSD</string>
@@ -1049,7 +1049,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="24" column="2">
<item row="25" column="2">
<widget class="QLabel" name="label_cputsdf_license">
<property name="text">
<string>BSD</string>
@@ -1069,7 +1069,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="20" column="2">
<item row="21" column="2">
<widget class="QLabel" name="label_cvsba_license">
<property name="text">
<string>GPLv2</string>
@@ -1079,7 +1079,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="17" column="2">
<item row="18" column="2">
<widget class="QLabel" name="label_toro_license">
<property name="text">
<string>Creative Commons [Attribution-NonCommercial-ShareAlike]</string>
@@ -1089,7 +1089,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="10" column="2">
<item row="11" column="2">
<widget class="QLabel" name="label_realsense_license">
<property name="text">
<string>Apache-2</string>
@@ -1112,7 +1112,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QLabel" name="label_68">
<property name="text">
<string>With K4A :</string>
@@ -1122,7 +1122,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="15" column="1">
<item row="16" column="1">
<widget class="QLabel" name="label_k4w2">
<property name="text">
<string/>
@@ -1135,7 +1135,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QLabel" name="label_k4a">
<property name="text">
<string/>
@@ -1148,7 +1148,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="16" column="2">
<item row="17" column="2">
<widget class="QLabel" name="label_g2o_license_3">
<property name="text">
<string>MIT</string>
@@ -1158,7 +1158,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>With FastCV :</string>
@@ -1168,7 +1168,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_fastcv">
<property name="text">
<string/>
@@ -1181,7 +1181,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="2">
<item row="7" column="2">
<widget class="QLabel" name="label_fastcv_license">
<property name="text">
<string>Apache v2</string>
@@ -1191,7 +1191,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="0">
<item row="22" column="0">
<widget class="QLabel" name="label_40">
<property name="text">
<string>With Ceres :</string>
@@ -1201,7 +1201,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="2">
<item row="22" column="2">
<widget class="QLabel" name="label_ceres_license">
<property name="text">
<string>BSD</string>
@@ -1211,7 +1211,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="21" column="1">
<item row="22" column="1">
<widget class="QLabel" name="label_ceres">
<property name="text">
<string/>
@@ -1224,7 +1224,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="0">
<item row="27" column="0">
<widget class="QLabel" name="label_41">
<property name="text">
<string>With AliceVision :</string>
@@ -1234,7 +1234,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="1">
<item row="27" column="1">
<widget class="QLabel" name="label_aliceVision">
<property name="text">
<string/>
@@ -1247,7 +1247,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="26" column="2">
<item row="27" column="2">
<widget class="QLabel" name="label_aliceVision_license">
<property name="text">
<string>MPL2</string>
@@ -1257,6 +1257,39 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_sptorch_license">
<property name="text">
<string>GPLv3</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_42">
<property name="text">
<string>With SuperPoint Torch :</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_sptorch">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -1292,7 +1325,7 @@ p, li { white-space: pre-wrap; }
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>Copyright (C) 2010-2019 IntRoLab - Université de Sherbrooke</string>
<string>Copyright (C) 2010-2020 IntRoLab - Université de Sherbrooke</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>

167
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>680</width>
<height>3197</height>
<height>3310</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>36</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8697,6 +8697,11 @@ generate the number of words requested.</string>
<string>ORB OCTREE</string>
</property>
</item>
<item>
<property name="text">
<string>SuperPoint Torch</string>
</property>
</item>
</widget>
</item>
<item row="6" column="0">
@@ -17499,7 +17504,7 @@ Lower the ratio -&gt; higher the precision.</string>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="reextract_type">
<widget class="QComboBox" name="vis_feature_detector">
<property name="currentIndex">
<number>0</number>
</property>
@@ -17561,6 +17566,11 @@ Lower the ratio -&gt; higher the precision.</string>
<string>ORB OCTREE</string>
</property>
</item>
<item>
<property name="text">
<string>SuperPoint Torch</string>
</property>
</item>
</widget>
</item>
<item row="3" column="0">
@@ -21126,6 +21136,157 @@ Lower the ratio -&gt; higher the precision.</string>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_85">
<layout class="QVBoxLayout" name="verticalLayout_146">
<item>
<widget class="QGroupBox" name="groupBox_detector_superpoint_torch2">
<property name="title">
<string>SupertPoint Torch</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_147">
<item>
<widget class="QLabel" name="label_575">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;SupertPoint c++ implementation from &lt;a href=&quot;https://github.com/KinglittleQ/SuperPoint_SLAM&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPoint_SLAM&lt;/span&gt;&lt;/a&gt; project based on pytorch. A &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pt&lt;/span&gt; weights file can be downloaded from its Git. It should be the same weights file &lt;a href=&quot;https://pytorch.org/tutorials/advanced/cpp_export.html&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;converted&lt;/span&gt;&lt;/a&gt; from &lt;span style=&quot; font-weight:600;&quot;&gt;superpoint.pth&lt;/span&gt; of the &lt;a href=&quot;https://github.com/magicleap/SuperPointPretrainedNetwork&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;SuperPointPretrainedNetwork&lt;/span&gt;&lt;/a&gt; project.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_114" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_sptorch_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_sptorch_path"/>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_579">
<property name="text">
<string>[Required] Path to pre-trained weights Torch file of SuperPoint.</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="QDoubleSpinBox" name="doubleSpinBox_sptorch_threshold">
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_578">
<property name="text">
<string>Detector response threshold to accept keypoint.</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="QCheckBox" name="checkBox_sptorch_nms">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_577">
<property name="text">
<string>If true, non-maximum suppression is applied to detected keypoints.</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="QCheckBox" name="checkBox_sptorch_cuda">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_574">
<property name="text">
<string>Use Cuda device for Torch, otherwise CPU device is used by default.</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="2">
<widget class="QLabel" name="label_580">
<property name="text">
<string>Minimum distance (pixels) between keypoints (when non-maximum suppression is enabled).</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="QSpinBox" name="spinBox_sptorch_minDistance"/>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_84">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>2964</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>