mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added Monocular SLAM (experimental), Odometry classes refactoring
This commit is contained in:
Mathieu Labbe
@@ -6,8 +6,8 @@
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<x>0</x>
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<y>0</y>
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<width>1035</width>
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<height>702</height>
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<width>1058</width>
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<height>725</height>
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<property name="sizePolicy">
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@@ -63,9 +63,9 @@
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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>737</width>
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<height>948</height>
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<y>-368</y>
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<width>760</width>
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<height>1009</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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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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||||
</property>
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||||
<property name="currentIndex">
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<number>8</number>
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<number>3</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -1928,6 +1928,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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_229">
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||||
<property name="text">
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||||
<string>Only RGB images are published.</string>
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||||
</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
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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="QCheckBox" name="checkbox_rgbd_colorOnly">
|
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<property name="text">
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||||
<string/>
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||||
</property>
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||||
<property name="checked">
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||||
<bool>false</bool>
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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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||||
</layout>
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||||
@@ -4171,26 +4191,6 @@ When set to false, no new words are added to dictionary, so no more updates are
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</property>
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||||
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1">
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||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ORBNFeatures">
|
||||
<property name="maximum">
|
||||
<number>10000</number>
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||||
</property>
|
||||
<property name="value">
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||||
<number>500</number>
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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="QLabel" name="label_24">
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||||
<property name="text">
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||||
<string>The maximum number of features to retain.</string>
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||||
</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
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||||
</property>
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||||
</widget>
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||||
</item>
|
||||
<item row="1" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBScaleFactor">
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||||
<property name="decimals">
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||||
<number>1</number>
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||||
@@ -4200,7 +4200,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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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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<item row="0" column="1">
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||||
<widget class="QLabel" name="label_32">
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||||
<property name="text">
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||||
<string>Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.</string>
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@@ -4210,14 +4210,14 @@ When set to false, no new words are added to dictionary, so no more updates are
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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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<item row="1" column="0">
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||||
<widget class="QSpinBox" name="spinBox_ORBNLevels">
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<property name="value">
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||||
<number>8</number>
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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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<item row="1" column="1">
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<widget class="QLabel" name="label_43">
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||||
<property name="text">
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||||
<string>The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).</string>
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||||
@@ -4227,14 +4227,14 @@ When set to false, no new words are added to dictionary, so no more updates are
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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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||||
<item row="2" column="0">
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||||
<widget class="QSpinBox" name="spinBox_ORBEdgeThreshold">
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||||
<property name="value">
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||||
<number>31</number>
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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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||||
<item row="2" column="1">
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||||
<widget class="QLabel" name="label_95">
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||||
<property name="text">
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||||
<string>This is size of the border where the features are not detected. It should roughly match the patchSize parameter.</string>
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||||
@@ -4244,14 +4244,14 @@ When set to false, no new words are added to dictionary, so no more updates are
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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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||||
<item row="3" column="0">
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||||
<widget class="QSpinBox" name="spinBox_ORBFirstLevel">
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||||
<property name="maximum">
|
||||
<number>0</number>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="4" column="1">
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||||
<item row="3" column="1">
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||||
<widget class="QLabel" name="label_127">
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||||
<property name="text">
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||||
<string>It should be 0 in the current implementation.</string>
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||||
@@ -4261,14 +4261,14 @@ When set to false, no new words are added to dictionary, so no more updates are
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</property>
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</widget>
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</item>
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||||
<item row="5" column="0">
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||||
<item row="4" column="0">
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||||
<widget class="QSpinBox" name="spinBox_ORBWTA_K">
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||||
<property name="value">
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||||
<number>2</number>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="5" column="1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_128">
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||||
<property name="text">
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||||
<string>WTA_K: The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).</string>
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@@ -4278,10 +4278,10 @@ When set to false, no new words are added to dictionary, so no more updates are
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</property>
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</widget>
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||||
</item>
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||||
<item row="6" column="0">
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<item row="5" column="0">
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||||
<widget class="QSpinBox" name="spinBox_ORBScoreType"/>
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||||
</item>
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||||
<item row="6" column="1">
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||||
<item row="5" column="1">
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||||
<widget class="QLabel" name="label_140">
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||||
<property name="text">
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||||
<string>The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.</string>
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@@ -4291,14 +4291,14 @@ When set to false, no new words are added to dictionary, so no more updates are
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="7" column="0">
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||||
<item row="6" column="0">
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||||
<widget class="QSpinBox" name="spinBox_ORBPatchSize">
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||||
<property name="value">
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||||
<number>31</number>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="7" column="1">
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||||
<item row="6" column="1">
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||||
<widget class="QLabel" name="label_147">
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||||
<property name="text">
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||||
<string>size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.</string>
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||||
@@ -4308,14 +4308,14 @@ When set to false, no new words are added to dictionary, so no more updates are
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="8" column="0">
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||||
<item row="7" column="0">
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||||
<widget class="QCheckBox" name="checkBox_ORBGpu">
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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="8" column="1">
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||||
<item row="7" column="1">
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||||
<widget class="QLabel" name="label_orbGpu">
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||||
<property name="text">
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||||
<string>GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
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||||
@@ -4451,7 +4451,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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||||
<string>GFTT</string>
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||||
</property>
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||||
<layout class="QGridLayout" name="gridLayout_21" columnstretch="0,1">
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||||
<item row="1" column="0">
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||||
<item row="0" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_qualityLevel">
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||||
<property name="maximum">
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||||
<double>1.000000000000000</double>
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||||
@@ -4464,7 +4464,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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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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||||
<item row="1" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_minDistance">
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||||
<property name="decimals">
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||||
<number>1</number>
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||||
@@ -4474,7 +4474,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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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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||||
<item row="3" column="0">
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||||
<widget class="QCheckBox" name="checkBox_GFTT_useHarrisDetector">
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||||
<property name="text">
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||||
<string/>
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||||
@@ -4484,7 +4484,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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</property>
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</widget>
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</item>
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||||
<item row="4" column="1">
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||||
<item row="3" column="1">
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||||
<widget class="QLabel" name="label_172">
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||||
<property name="text">
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||||
<string>Use Harris detector.</string>
|
||||
@@ -4494,7 +4494,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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||||
</property>
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||||
</widget>
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||||
</item>
|
||||
<item row="5" column="0">
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||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_k">
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
@@ -4507,7 +4507,7 @@ When set to false, no new words are added to dictionary, so no more updates are
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||||
</property>
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||||
</widget>
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||||
</item>
|
||||
<item row="5" column="1">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_173">
|
||||
<property name="text">
|
||||
<string>K.</string>
|
||||
@@ -4517,34 +4517,14 @@ When set to false, no new words are added to dictionary, so no more updates are
|
||||
</property>
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</widget>
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||||
</item>
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||||
<item row="3" column="0">
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||||
<item row="2" column="0">
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||||
<widget class="QSpinBox" name="spinBox_GFTT_blockSize">
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||||
<property name="value">
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||||
<number>3</number>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="0" column="0">
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||||
<widget class="QSpinBox" name="spinBox_GFTT_maxCorners">
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||||
<property name="maximum">
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||||
<number>100000</number>
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||||
</property>
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||||
<property name="value">
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||||
<number>1000</number>
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||||
</property>
|
||||
</widget>
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||||
</item>
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||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_174">
|
||||
<property name="text">
|
||||
<string>Maximum corners.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
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||||
<widget class="QLabel" name="label_175">
|
||||
<property name="text">
|
||||
<string>Quality level.</string>
|
||||
@@ -4554,7 +4534,7 @@ When set to false, no new words are added to dictionary, so no more updates are
|
||||
</property>
|
||||
</widget>
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</item>
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<item row="2" column="1">
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||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_176">
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||||
<property name="text">
|
||||
<string>Mininum distance.</string>
|
||||
@@ -4564,7 +4544,7 @@ When set to false, no new words are added to dictionary, so no more updates are
|
||||
</property>
|
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</widget>
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||||
</item>
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<item row="3" column="1">
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<item row="2" column="1">
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||||
<widget class="QLabel" name="label_177">
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||||
<property name="text">
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||||
<string>Block size.</string>
|
||||
@@ -5337,7 +5317,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<property name="title">
|
||||
<string>Loop closure constraint</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_49">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_41">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
@@ -5442,14 +5422,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
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</item>
|
||||
<item row="4" column="0">
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_bowForce2D">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_184">
|
||||
<property name="text">
|
||||
<string>Force 2D transform (3DoF: x,y and yaw).</string>
|
||||
@@ -5459,7 +5439,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<item row="7" column="0">
|
||||
<widget class="QComboBox" name="globalDetection_icpType">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
@@ -5481,7 +5461,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_57">
|
||||
<property name="text">
|
||||
<string>When enabled, the visual transform is used as a guess for ICP estimation (3D or 2D). See "ICP" panel for parameters.</string>
|
||||
@@ -5491,6 +5471,52 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_658">
|
||||
<property name="text">
|
||||
<string>Use epipolar geometry to compute the loop closure transform. "Maximum distance for visual word correspondences" is not used in this mode.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_bowEpipolarGeometry">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_664">
|
||||
<property name="text">
|
||||
<string>Epipolar geometry maximum variance to accept the loop closure.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="loopClosure_bowEpipolarGeometryVar">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.020000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -5525,6 +5551,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_174">
|
||||
<property name="text">
|
||||
<string>Epipolar geometry is ignored (if set above) by this option.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_25" columnstretch="0,1">
|
||||
<item row="3" column="0">
|
||||
@@ -6303,7 +6339,17 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
|
||||
<item row="2" column="1">
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_160">
|
||||
<property name="text">
|
||||
<string>3-Mono is for single camera motion estimation (MonoSLAM). On initialization, the camera must be translated on the side until a first transform can be computed.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_47">
|
||||
<property name="text">
|
||||
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset). When reset, the odometry starts from the last pose computed.</string>
|
||||
@@ -6328,16 +6374,28 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<string>Optical Flow</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Mono</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="odom_countdown">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="odom_fillInfoData">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QComboBox" name="odom_type">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
@@ -6384,10 +6442,10 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_44">
|
||||
<property name="text">
|
||||
<string>Feature detector. In BOW mode, the related descriptor is also used. In Optical flow mode, only the keypoint detector is used.</string>
|
||||
<string>Feature detector. In BOW/Mono modes, the related descriptor is also used. In Optical flow mode, only the keypoint detector is used.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -6397,23 +6455,21 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_103">
|
||||
<property name="text">
|
||||
<string>Odometry strategy:
|
||||
1-BOW matches features extracted from both frames using nearest neighbor with descriptors, then computes RANSAC transformation estimation with corresponding 3D features.
|
||||
2-Optical flow estimate the location of 2D features from last frame to new frame, then computes RANSAC transformation with corresponding 3D features.</string>
|
||||
<string>Odometry strategy:</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="odom_force2D">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_196">
|
||||
<property name="text">
|
||||
<string>Force 2D transform (3DoF: x,y and yaw).</string>
|
||||
@@ -6423,7 +6479,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_221">
|
||||
<property name="text">
|
||||
<string>Fill info with data (inliers/outliers features to be shown in Odometry view).</string>
|
||||
@@ -6433,20 +6489,33 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="odom_fillInfoData">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<item row="8" column="0">
|
||||
<widget class="QPushButton" name="pushButton_testOdometry">
|
||||
<property name="text">
|
||||
<string>Test selected odometry</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_161">
|
||||
<property name="text">
|
||||
<string>2-Optical flow estimate the location of 2D features from last frame to new frame, then computes RANSAC transformation with corresponding 3D features.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_162">
|
||||
<property name="text">
|
||||
<string>1-BOW matches features extracted from both frames using nearest neighbor with descriptors, then computes RANSAC transformation estimation with corresponding 3D features.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -7116,6 +7185,158 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_30">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_169">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odometryMono2">
|
||||
<property name="title">
|
||||
<string>Mono</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_168">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_661">
|
||||
<property name="text">
|
||||
<string>Parameters from BOW and OpticalFlow are also used here. PnP parameters on Odometry panel are used too.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_166" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_minFlow">
|
||||
<property name="suffix">
|
||||
<string> pixels</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_659">
|
||||
<property name="text">
|
||||
<string>Minimum optical flow required for the initialization step.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_minTranslation">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.020000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_660">
|
||||
<property name="text">
|
||||
<string>Minimum translation to add new points to local map. On initialization, translation x 5 is used as the required minimum transformation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_662">
|
||||
<property name="text">
|
||||
<string>Minimum translation required for the initialization step.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_minInitTranslation">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_663">
|
||||
<property name="text">
|
||||
<string>Maximum variance to add new points to local map.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxVariance">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_88">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>774</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
<zorder>groupBox_odometryMono2</zorder>
|
||||
<zorder>verticalSpacer_88</zorder>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user