mirror of
https://github.com/introlab/rtabmap.git
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Torjus Ivelandandmatlabbe
2fbbe19d70
* VWDictionary: use multi-core FLANN kNN search * Add parameter with default 1 thread * Kp/FlannTreads plumbing to UI. Also added to performance tests for comparison. * fixing ci error * dump debug data for windows ci * Adding more dll debugging report windows ci * install vc2012 runtime explicitly * updated comment --------- Co-authored-by: matlabbe <[email protected]>
29513 lines
1.5 MiB
Plaintext
29513 lines
1.5 MiB
Plaintext
<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>preferencesDialog</class>
|
|
<widget class="QDialog" name="preferencesDialog">
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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>980</width>
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<height>1246</height>
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</rect>
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</property>
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|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
|
|
<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
|
|
<property name="windowTitle">
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<string>Preferences</string>
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</property>
|
|
<property name="windowIcon">
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<iconset resource="../GuiLib.qrc">
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<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
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|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_172">
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|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1">
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|
<property name="spacing">
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<number>0</number>
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</property>
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|
<item>
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<layout class="QVBoxLayout" name="verticalLayout_18">
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<item>
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|
<widget class="QTreeView" name="treeView">
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|
<property name="minimumSize">
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|
<size>
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|
<width>160</width>
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<height>0</height>
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</size>
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</property>
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|
<property name="editTriggers">
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|
<set>QAbstractItemView::NoEditTriggers</set>
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|
</property>
|
|
<attribute name="headerVisible">
|
|
<bool>false</bool>
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|
</attribute>
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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="QVBoxLayout" name="verticalLayout_17">
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<property name="spacing">
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<number>0</number>
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</property>
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<item>
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<widget class="QScrollArea" name="scrollArea">
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<property name="widgetResizable">
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|
<bool>true</bool>
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|
</property>
|
|
<widget class="QWidget" name="scrollAreaWidgetContents">
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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>684</width>
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<height>5315</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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|
<property name="spacing">
|
|
<number>0</number>
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|
</property>
|
|
<property name="leftMargin">
|
|
<number>0</number>
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</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
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|
</property>
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|
<property name="rightMargin">
|
|
<number>0</number>
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</property>
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|
<property name="bottomMargin">
|
|
<number>0</number>
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</property>
|
|
<item>
|
|
<layout class="QVBoxLayout" name="verticalLayout_24">
|
|
<property name="spacing">
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|
<number>0</number>
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|
</property>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget">
|
|
<property name="frameShadow">
|
|
<enum>QFrame::Raised</enum>
|
|
</property>
|
|
<property name="currentIndex">
|
|
<number>11</number>
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|
</property>
|
|
<widget class="QWidget" name="page_22">
|
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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|
<item>
|
|
<widget class="QGroupBox" name="groupBox_generalSettingsGui0">
|
|
<property name="title">
|
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<string>General Settings (GUI)</string>
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|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_28">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_39" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_imagesKept">
|
|
<property name="text">
|
|
<string/>
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|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_247">
|
|
<property name="text">
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<string>Use time for figures' x-axis. Otherwise, sensor data IDs are used for camera/odometry info and for all mapping statistics, node IDs are used.</string>
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|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_cacheStatistics">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_313">
|
|
<property name="text">
|
|
<string>Insert created clouds in the GUI cache to avoid regenerating clouds on export.</string>
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|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QCheckBox" name="checkBox_stamps">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
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</item>
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<item row="5" column="1">
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|
<widget class="QLabel" name="label_342">
|
|
<property name="text">
|
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<string>Cache statistics.</string>
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|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
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|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
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|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
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|
<widget class="QCheckBox" name="checkBox_beep">
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|
<property name="text">
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|
<string/>
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|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_102">
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|
<property name="text">
|
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<string>Notify when a new global path is received.</string>
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|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_239">
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<property name="text">
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<string>Disable odometry. This option only makes sense in localization mode with a pre-built map and that odometry cannot be computed from the source selected (e.g. RGB source).</string>
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|
</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="QLabel" name="label_88">
|
|
<property name="text">
|
|
<string>Beep! on special events (finished processing the data set, an error has occured, ...).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_59">
|
|
<property name="text">
|
|
<string>Insert new data received in the GUI cache. Used to show the loop closure image and the 3D Map.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkbox_odomDisabled">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_347">
|
|
<property name="text">
|
|
<string>When a ground truth is provided, align it with the map.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="checkbox_groundTruthAlign">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_cloudsKept">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_651">
|
|
<property name="text">
|
|
<string>Republish nodes not in GUI cache.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_missing_cache_republished">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_2">
|
|
<property name="title">
|
|
<string>Save/Load Settings</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_174">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_134">
|
|
<item row="0" column="0">
|
|
<widget class="QPushButton" name="pushButton_loadConfig">
|
|
<property name="text">
|
|
<string>Load settings (*.ini) ...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QPushButton" name="pushButton_saveConfig">
|
|
<property name="text">
|
|
<string>Save settings (*.ini) ...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QPushButton" name="pushButton_resetConfig">
|
|
<property name="text">
|
|
<string>Reset all settings</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="3">
|
|
<spacer name="horizontalSpacer_4">
|
|
<property name="orientation">
|
|
<enum>Qt::Horizontal</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>40</width>
|
|
<height>20</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_41">
|
|
<property name="title">
|
|
<string>Presets</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_179">
|
|
<item>
|
|
<widget class="QLabel" name="label_751">
|
|
<property name="text">
|
|
<string><html><head/><body><p><a href="https://github.com/introlab/rtabmap/tree/master/data"><span style=" text-decoration: underline; color:#0000ff;">Presets</span></a> are applied after resetting to defaults the 3D Rendering panel and Core parameters. You can create your own presets by saving/loading settings above.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_135" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QPushButton" name="pushButton_presets_camera_tof_icp">
|
|
<property name="text">
|
|
<string>TOF Camera ICP</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_752">
|
|
<property name="text">
|
|
<string><html><head/><body><p>e.g., Kinect [v2, For Azure] and L515 cameras. Example <a href="http://official-rtab-map-forum.206.s1.nabble.com/Kinect-For-Azure-L515-ICP-lighting-invariant-mapping-td7187.html"><span style=" text-decoration: underline; color:#0000ff;">here</span></a>.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QPushButton" name="pushButton_presets_lidar_3d_icp">
|
|
<property name="text">
|
|
<string>LiDAR 3D ICP</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_753">
|
|
<property name="text">
|
|
<string>e.g., Velodyne, RoboSense and Ouster LiDARs.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_5">
|
|
<property name="title">
|
|
<string>Loop Closure Detection</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_imageRejectedShown">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_105">
|
|
<property name="text">
|
|
<string>Show the image of the highest hypothesis.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_imageHighestHypShown">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_73">
|
|
<property name="text">
|
|
<string>Show image when an hypothesis is rejected.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_70">
|
|
<property name="text">
|
|
<string>Vertical layout.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_verticalLayoutUsed">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_29">
|
|
<property name="title">
|
|
<string>Graph View</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_167">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_34">
|
|
<property name="title">
|
|
<string>Map Graph</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_104" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QRadioButton" name="radioButton_posteriorGraphView">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_222">
|
|
<property name="text">
|
|
<string>Show loop closure hypotheses on the graph view. Nodes are colorized from blue to red depending on the highest hypothesis (which is red). Posterior hypotheses should be published. </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QRadioButton" name="radioButton_wordsGraphView">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_478">
|
|
<property name="text">
|
|
<string>Show 3D visual words count on the graph view. Nodes are colorized from blue to red depending on the maximum visual features extracted (which is red).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QRadioButton" name="radioButton_localizationsGraphView">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_481">
|
|
<property name="text">
|
|
<string>Show nodes on which loop closures or localizations happened in red.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QRadioButton" name="radioButton_nochangeGraphView">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_479">
|
|
<property name="text">
|
|
<string>No change of graph color.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_35">
|
|
<property name="title">
|
|
<string>Localization Graph</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_123" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QRadioButton" name="radioButton_localizationsGraphViewOdomCache">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_649">
|
|
<property name="text">
|
|
<string>Show nodes in green when there is re-localization, red otherwise.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QRadioButton" name="radioButton_nochangeGraphViewOdomCache">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_648">
|
|
<property name="text">
|
|
<string>No change of graph color.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_21">
|
|
<property name="title">
|
|
<string>Odometry</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_85" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_369">
|
|
<property name="text">
|
|
<string>Show only inliers.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_odom_onlyInliersShown">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_159">
|
|
<property name="text">
|
|
<string>Warning theshold:
|
|
Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -> General -> Odom inliers.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_24">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_2">
|
|
<layout class="QVBoxLayout" name="verticalLayout_42">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cloudRendering1">
|
|
<property name="title">
|
|
<string>3D Rendering</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_98">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_12">
|
|
<property name="title">
|
|
<string>Point Cloud</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_112">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QLabel" name="label_154">
|
|
<property name="text">
|
|
<string>Map</string>
|
|
</property>
|
|
<property name="alignment">
|
|
<set>Qt::AlignCenter</set>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_150">
|
|
<property name="text">
|
|
<string>Minimum depth.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QSpinBox" name="spinBox_colorScheme"/>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_108">
|
|
<property name="text">
|
|
<string>Decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QSpinBox" name="spinBox_normalKSearch">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>10</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="2">
|
|
<widget class="QLabel" name="label_155">
|
|
<property name="text">
|
|
<string>Opacity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_decimation">
|
|
<property name="minimum">
|
|
<number>-32</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>32</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingFilterHeight">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-10.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_119">
|
|
<property name="text">
|
|
<string>Show 3D clouds.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_137">
|
|
<property name="text">
|
|
<string>Odometry</string>
|
|
</property>
|
|
<property name="alignment">
|
|
<set>Qt::AlignCenter</set>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QCheckBox" name="checkBox_showOdomClouds">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QSpinBox" name="spinBox_colorScheme_odom"/>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_353">
|
|
<property name="text">
|
|
<string>ROI ratios [left right top bottom] between 0 and 1.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="2">
|
|
<widget class="QLabel" name="label_157">
|
|
<property name="text">
|
|
<string>Point size (1..64).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="0">
|
|
<widget class="QSpinBox" name="spinBox_ptsize">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>64</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>4.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="2">
|
|
<widget class="QLabel" name="label_171">
|
|
<property name="text">
|
|
<string>Voxel filtering size (0=disabled).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="2">
|
|
<widget class="QLabel" name="label_355">
|
|
<property name="text">
|
|
<string>Floor filtering height (0=Disabled). This is done in /map frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="2">
|
|
<widget class="QLabel" name="label_338">
|
|
<property name="text">
|
|
<string>Ceiling filtering height (0=Disabled). This is done in /map frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_floorFilterHeight">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-10.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_showClouds">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="2">
|
|
<widget class="QLabel" name="label_427">
|
|
<property name="text">
|
|
<string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</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="QSpinBox" name="spinBox_decimation_odom">
|
|
<property name="minimum">
|
|
<number>-32</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>32</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth_odom">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxel">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="2">
|
|
<widget class="QLabel" name="label_459">
|
|
<property name="text">
|
|
<string>Default color scheme key.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="2">
|
|
<widget class="QLabel" name="label_210">
|
|
<property name="text">
|
|
<string>Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</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_132">
|
|
<property name="text">
|
|
<string>Maximum depth (0 means no limit).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
|
|
</item>
|
|
<item row="8" column="2">
|
|
<widget class="QLabel" name="label_168">
|
|
<property name="text">
|
|
<string>Noise filtering radius (0=disabled). Done after voxel filtering.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="1">
|
|
<widget class="QSpinBox" name="spinBox_ptsize_odom">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>64</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="2">
|
|
<widget class="QLabel" name="label_169">
|
|
<property name="text">
|
|
<string>Noise filtering min neighbors.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="2">
|
|
<widget class="QLabel" name="label_298">
|
|
<property name="text">
|
|
<string>Minimum depth confidence.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QSpinBox" name="spinBox_depthConf_odom">
|
|
<property name="suffix">
|
|
<string> %</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>100</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="spinBox_depthConf">
|
|
<property name="suffix">
|
|
<string> %</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>100</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_organized">
|
|
<property name="title">
|
|
<string>Organized Online Meshing</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_31">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_64" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_85">
|
|
<property name="text">
|
|
<string>Angle tolerance</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_quad">
|
|
<property name="text">
|
|
<string>Quad</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_mesh_triangleSize">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_87">
|
|
<property name="text">
|
|
<string>Triangle size</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_mesh_quad">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_mesh_angleTolerance">
|
|
<property name="suffix">
|
|
<string> deg</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>15.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_337">
|
|
<property name="text">
|
|
<string>Texture</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_mesh_texture">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_17">
|
|
<property name="title">
|
|
<string>Laser Scan</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_79" columnstretch="0,0,1">
|
|
<item row="11" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_273">
|
|
<property name="text">
|
|
<string>Scan downsampling step size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>64</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_110">
|
|
<property name="text">
|
|
<string>Show scans.</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_271">
|
|
<property name="text">
|
|
<string>Scan voxel size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_356">
|
|
<property name="text">
|
|
<string>Odometry</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QLabel" name="label_359">
|
|
<property name="text">
|
|
<string>Map</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingFilterHeight_scan">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-10.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="2">
|
|
<widget class="QLabel" name="label_241">
|
|
<property name="text">
|
|
<string>Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="2">
|
|
<widget class="QLabel" name="label_458">
|
|
<property name="text">
|
|
<string>Default color scheme key.</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="2">
|
|
<widget class="QLabel" name="label_460">
|
|
<property name="text">
|
|
<string>Maximum range (0 means no limit).</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="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxRange">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="2">
|
|
<widget class="QLabel" name="label_428">
|
|
<property name="text">
|
|
<string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="2">
|
|
<widget class="QLabel" name="label_158">
|
|
<property name="text">
|
|
<string>Scan point size (1..64).</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="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_showScans">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="2">
|
|
<widget class="QLabel" name="label_156">
|
|
<property name="text">
|
|
<string>Scan opacity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QSpinBox" name="spinBox_ptsize_scan">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>64</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QCheckBox" name="checkBox_showOdomScans">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_downsamplingScan">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="2">
|
|
<widget class="QLabel" name="label_367">
|
|
<property name="text">
|
|
<string>Ceiling filtering height (0=Disabled). This is done in /map frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="2">
|
|
<widget class="QLabel" name="label_368">
|
|
<property name="text">
|
|
<string>Floor filtering height (0=Disabled). This is done in /map frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_floorFilterHeight_scan">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-10.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QSpinBox" name="spinBox_normalKSearch_scan">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>10</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch_scan">
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="spinBox_colorSchemeScan"/>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QSpinBox" name="spinBox_colorSchemeScan_odom"/>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_461">
|
|
<property name="text">
|
|
<string>Minimum range.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_minRange">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxRange_odom">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_minRange_odom">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_18">
|
|
<property name="title">
|
|
<string>Miscellaneous</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_82">
|
|
<item row="3" column="2">
|
|
<widget class="QLabel" name="label_213">
|
|
<property name="text">
|
|
<string>Show graphs.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_showFeatures">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_showGraphs">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_showLabels">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QSpinBox" name="spinBox_ptsize_odom_features">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>64</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QCheckBox" name="checkBox_showOdomFeatures">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_123">
|
|
<property name="text">
|
|
<string>Show 3D features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_243">
|
|
<property name="text">
|
|
<string>Show labels.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QLabel" name="label_360">
|
|
<property name="text">
|
|
<string>Map</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_361">
|
|
<property name="text">
|
|
<string>Odometry</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_ptsize_features">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>64</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_166">
|
|
<property name="text">
|
|
<string>Feature point size.</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="2">
|
|
<widget class="QLabel" name="label_362">
|
|
<property name="text">
|
|
<string>Show frustums.</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="0">
|
|
<widget class="QCheckBox" name="checkBox_showFrustums">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QCheckBox" name="checkBox_showOdomFrustums">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="2">
|
|
<widget class="QLabel" name="label_301">
|
|
<property name="text">
|
|
<string>Show landmarks.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkBox_showLandmarks">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="2">
|
|
<widget class="QLabel" name="label_528">
|
|
<property name="text">
|
|
<string>Landmark size. If zero, marker's length parameter is used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_landmarkSize">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="2">
|
|
<widget class="QLabel" name="label_567">
|
|
<property name="text">
|
|
<string>Show IMU filtered gravity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="2">
|
|
<widget class="QLabel" name="label_568">
|
|
<property name="text">
|
|
<string>Show IMU acceleration.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QCheckBox" name="checkBox_showIMUAcc">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="checkBox_showIMUGravity">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QCheckBox" name="checkBox_showIMUGravity_odom">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_lengthIMUGravity">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_lengthIMUGravity_odom">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="2">
|
|
<widget class="QLabel" name="label_569">
|
|
<property name="text">
|
|
<string>IMU filtered gravity length.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="2">
|
|
<widget class="QLabel" name="label_572">
|
|
<property name="text">
|
|
<string>Show frames.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="checkBox_showFrames">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_61">
|
|
<layout class="QVBoxLayout" name="verticalLayout_104">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_filtering2">
|
|
<property name="title">
|
|
<string>Node Filtering</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_37">
|
|
<item>
|
|
<widget class="QLabel" name="label_160">
|
|
<property name="text">
|
|
<string>For visualization purpose, superposed clouds can be filtered by one of the approaches below.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_65" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_71">
|
|
<property name="text">
|
|
<string>No filtering.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QRadioButton" name="radioButton_noFiltering">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QRadioButton" name="radioButton_subtractFiltering">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<layout class="QGridLayout" name="gridLayout_17" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_37">
|
|
<property name="text">
|
|
<string>Radius.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterAngle">
|
|
<property name="suffix">
|
|
<string> deg</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>180.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>30.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_48">
|
|
<property name="text">
|
|
<string>Angle.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_161">
|
|
<property name="text">
|
|
<string>Cloud subtraction filtering. When a new cloud is added to the map, its points are subtracted from the previous cloud.</string>
|
|
</property>
|
|
<property name="textFormat">
|
|
<enum>Qt::PlainText</enum>
|
|
</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="QLabel" name="label_33">
|
|
<property name="text">
|
|
<string>Pose filtering. By comparing poses in the same area, only one cloud in a fixed radius and angle is shown.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QRadioButton" name="radioButton_nodeFiltering">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<layout class="QGridLayout" name="gridLayout_69" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_subtractFilteringRadius">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.020000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_192">
|
|
<property name="text">
|
|
<string>Point radius used to find close points between the current cloud and the previous one.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_subtractFilteringAngle">
|
|
<property name="suffix">
|
|
<string> deg</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>180.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>30.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_193">
|
|
<property name="text">
|
|
<string>Point angle used to keep only points with similar normal between the current cloud and the previous one.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_subtractFilteringMinPts">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_174">
|
|
<property name="text">
|
|
<string>Minimum points of the previous cloud in the fixed point radius in order to substract the point in the new cloud. Increasing this value reduces the black contours between clouds.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_55">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>1625</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_62">
|
|
<layout class="QVBoxLayout" name="verticalLayout_105">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_gridMap2">
|
|
<property name="title">
|
|
<string>Grid Map Assembling</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_45">
|
|
<item>
|
|
<widget class="QLabel" name="label_167">
|
|
<property name="text">
|
|
<string>When the Graph View is visible or if the "Show in 3D map view" below is checked, the grid map is assembled using occupancy grids saved in each node. See Occupancy Grid (advanced) panel for parameters used to create the local occupancy grids. If nodes don't have local occupancy grid created, use the Database Viewer tool to generate them.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_20" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_map_shown">
|
|
<property name="text">
|
|
<string>Show in 3D map view.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_map_shown_2">
|
|
<property name="text">
|
|
<string>Resolution. Set 0 to use same value from Local Occupancy Grid panel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.750000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_map_shown">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_elevation_shown">
|
|
<property name="toolTip">
|
|
<string>Partially checked: Height color map. Checked: RGB color map.</string>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="tristate">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_show_elevation">
|
|
<property name="text">
|
|
<string>Show Elevation Map in 3D map view.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_170">
|
|
<property name="text">
|
|
<string>Opacity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_resolution">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_octomap">
|
|
<property name="title">
|
|
<string>OctoMap (3D Occupancy Grid Map)</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_72" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_octomap_show3dMap">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_octomap_treeDepth">
|
|
<property name="text">
|
|
<string>Octomap maximum tree depth (max 16). The highest depth means the smallest resolution of the map (cell size). At smallest resolution the octomap shows RGB colors. Other resolutions produce z-axis gradient colored octomap.</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="0">
|
|
<widget class="QSpinBox" name="spinBox_octomap_treeDepth">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>16</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>16</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_octomap_pointSize">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_octomap_treeDepth_5">
|
|
<property name="text">
|
|
<string>OctoMap rendering type. Cube rendering requires significant more GPU power.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_octomap_2dgrid">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_octomap_treeDepth_3">
|
|
<property name="text">
|
|
<string>Show in 3D map view.</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="QLabel" name="label_octomap_treeDepth_6">
|
|
<property name="text">
|
|
<string>Point size. When cube rendering is disabled.</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="QLabel" name="label_octomap_treeDepth_8">
|
|
<property name="text">
|
|
<string>2D grid map created from OctoMap.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QComboBox" name="comboBox_octomap_renderingType">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Point Cloud</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Cube</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Volume</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_56">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>1375</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_8">
|
|
<layout class="QVBoxLayout" name="verticalLayout_43">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_logging1">
|
|
<property name="title">
|
|
<string>Logging</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_40" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_60">
|
|
<property name="text">
|
|
<string>Logger level.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_loggerLevel">
|
|
<property name="currentIndex">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>DEBUG</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>INFO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>WARNING</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ERROR</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="comboBox_loggerEventLevel">
|
|
<property name="currentIndex">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>DEBUG</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>INFO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>WARNING</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ERROR</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_61">
|
|
<property name="text">
|
|
<string>Logger event sent level (fatal messages are always sent).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QComboBox" name="comboBox_loggerPauseLevel">
|
|
<property name="currentIndex">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>DEBUG</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>INFO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>WARNING</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ERROR</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FATAL</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_62">
|
|
<property name="text">
|
|
<string>Logger level on which the process will automatically pause, showing the log console. A level set under the logger event level will do nothing.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_logger_printTime">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_67">
|
|
<property name="text">
|
|
<string>Logger print time.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QComboBox" name="comboBox_loggerType">
|
|
<property name="currentIndex">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>No log</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Console</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>File</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_68">
|
|
<property name="text">
|
|
<string>Logger type:
|
|
when using the file type, logs are saved in LogRtabmap.txt (located in the working directory).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_118">
|
|
<property name="text">
|
|
<string>Logger print thread ID.</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="0">
|
|
<widget class="QCheckBox" name="checkBox_logger_printThreadId">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QMultiComboBox" name="comboBox_loggerFilter">
|
|
<property name="currentIndex">
|
|
<number>-1</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_164">
|
|
<property name="text">
|
|
<string>Logger thread filter. If some threads are selected, only messages from these threads will be printed. If no thread is selected, then all messages are logged. </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_2">
|
|
<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 class="QWidget" name="page_4">
|
|
<layout class="QVBoxLayout" name="verticalLayout_27" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_source0">
|
|
<property name="title">
|
|
<string>Source</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_44">
|
|
<property name="title">
|
|
<string>Camera Sensor</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_176">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_130" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_sourceType">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>RGB-D</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Stereo</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RGB</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Database</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>None</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_19">
|
|
<property name="text">
|
|
<string>Source type. Select specific driver below.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QFrame" name="frame_camera_sensor">
|
|
<layout class="QGridLayout" name="gridLayout_28" columnstretch="0,1">
|
|
<property name="leftMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="bottomMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_244">
|
|
<property name="text">
|
|
<string>Create a calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of the source of images.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_3">
|
|
<property name="text">
|
|
<string>Input rate (0 means as fast as possible).</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_39">
|
|
<property name="text">
|
|
<string>ID of the device, which might be a serial number, bus@address or the index of the device. If empty, the first device found is taken.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<layout class="QHBoxLayout" name="horizontalLayout_5" stretch="0,1">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_source_path_calibration">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_calibrationFile">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>100</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_681">
|
|
<property name="text">
|
|
<string>Equalizes the histogram of grayscale images.</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="0">
|
|
<widget class="QSpinBox" name="spinBox_source_imageDecimation">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="checkbox_rgbd_colorOnly">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_18">
|
|
<property name="text">
|
|
<string>Calibration file path (*.yaml). If empty, the GUID of the camera is used (for those having one). OpenNI and Freenect drivers use factory calibration by default (so they ignore this parameter). A calibrated camera is required for RGB-D SLAM mode.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_740">
|
|
<property name="text">
|
|
<string>Detect features inside camera thread using parameters set in Visual Registration panel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QComboBox" name="comboBox_source_histogramMethod">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>None</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Histogram</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>CLAHE</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QPushButton" name="pushButton_calibrate">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="text">
|
|
<string>Calibrate</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_24">
|
|
<property name="text">
|
|
<string>Calibration files are saved in "camera_info" folder of the working directory.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="source_mirroring">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_17">
|
|
<property name="text">
|
|
<string>Mirroring mode (flip image horizontally). It has no effect on database source.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QPushButton" name="pushButton_test_camera">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="text">
|
|
<string>Test</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkbox_source_feature_detection">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_229">
|
|
<property name="text">
|
|
<string>Only RGB images (for RGB-D cameras) or left images (for stereo cameras) are published.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_imgRate">
|
|
<property name="suffix">
|
|
<string> Hz</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_sourceDevice">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_sourceLocalTransform">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 0 0 0 0<br/>KITTI: /base_link to /color_camera = 0 -0.06 0 0 0 0<br/>KITTI: /base_footprint to /gray_camera = 0 0 1.67 0 0 0<br/>KITTI: /base_footprint to /color_camera = 0 -0.06 1.67 0 0 0</p><p>EuRoC MAV: /base_link to /cam0 = T_BS*T_SC0 = 0.999661 0.0257743 -0.00375625 0.00981073 -0.0257154 0.999557 0.0149672 0.064677 0.00414035 -0.0148655 0.999881 -0.0216401</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>0 0 0 0 0 0</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_36">
|
|
<property name="text">
|
|
<string>Image decimation. RGB/Mono and depth images will be resized according to this value (size*1/decimation). Note that if depth images are captured, decimation should be a multiple of the depth image size. If depth images are smaller than RGB images, the decimation is first applied on RGB, if the resulting RGB image is still bigger than depth image, the depth is not decimated.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QPushButton" name="pushButton_calibrate_simple">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="text">
|
|
<string>Create Calibration</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_42">
|
|
<property name="text">
|
|
<string>Local transform from /base_link to /camera_link (without optical transform). Mouse over the box to show formats. If odometry sensor is enabled, it is the transform to odometry sensor.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_src">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_41">
|
|
<layout class="QVBoxLayout" name="verticalLayout_64">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_sourceRGBD">
|
|
<property name="title">
|
|
<string>RGB-D</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,0,0">
|
|
<item>
|
|
<widget class="QLabel" name="label_40">
|
|
<property name="text">
|
|
<string>Grabber for RGB-D devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_cameraRGBD">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>OpenNI-PCL</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Freenect</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>OpenNI-CV</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>OpenNI-CV-ASUS</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>OpenNI2</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Freenect2</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RealSense</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Images</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Kinect for Windows SDK v2</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RealSense2</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Kinect for Azure</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Xvisio SeerSense</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Orbbec SDK</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_228">
|
|
<property name="text">
|
|
<string>Driver.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_rgbd">
|
|
<property name="currentIndex">
|
|
<number>7</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_32">
|
|
<layout class="QVBoxLayout" name="verticalLayout_63">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_openni">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>OpenNI</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_57" columnstretch="0,0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_openniOniPath">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_245">
|
|
<property name="text">
|
|
<string>Path to a *.ONI file.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_openniOniPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_78">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_33">
|
|
<layout class="QVBoxLayout" name="verticalLayout_80">
|
|
<item>
|
|
<spacer name="verticalSpacer_90">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_34">
|
|
<layout class="QVBoxLayout" name="verticalLayout_89">
|
|
<item>
|
|
<spacer name="verticalSpacer_27">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_35">
|
|
<layout class="QVBoxLayout" name="verticalLayout_90">
|
|
<item>
|
|
<spacer name="verticalSpacer_28">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_36">
|
|
<layout class="QVBoxLayout" name="verticalLayout_51">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_openni2">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>OpenNI 2</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_54" columnstretch="0,0,0">
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_217">
|
|
<property name="text">
|
|
<string>Auto white balance.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_218">
|
|
<property name="text">
|
|
<string>Auto exposure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QSpinBox" name="openni2_exposure">
|
|
<property name="maximum">
|
|
<number>65535</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QCheckBox" name="openni2_stampsIdsUsed">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="2">
|
|
<widget class="QLabel" name="label_641">
|
|
<property name="text">
|
|
<string>Depth decimation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_220">
|
|
<property name="text">
|
|
<string>Gain.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_openni2OniPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="2">
|
|
<widget class="QLabel" name="label_436">
|
|
<property name="text">
|
|
<string>IR-Depth vertical shift. Positive toward up, negative toward down.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QCheckBox" name="openni2_autoWhiteBalance">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="2">
|
|
<widget class="QLabel" name="label_435">
|
|
<property name="text">
|
|
<string>IR-Depth horizontal shift. Positive toward left, negative toward right.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QSpinBox" name="openni2_vshift">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>-9999</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QSpinBox" name="openni2_depth_decimation">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>65535</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="2">
|
|
<widget class="QLabel" name="label_219">
|
|
<property name="text">
|
|
<string>Exposure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_264">
|
|
<property name="text">
|
|
<string>Use timestamps and frame IDs from OpenNI2.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="2">
|
|
<widget class="QLabel" name="label_223">
|
|
<property name="text">
|
|
<string>Mirroring.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QSpinBox" name="openni2_gain">
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>100</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QCheckBox" name="openni2_mirroring">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_openni2OniPath">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_231">
|
|
<property name="text">
|
|
<string>Path to a *.ONI file.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QSpinBox" name="openni2_hshift">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>-9999</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QCheckBox" name="openni2_autoExposure">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_71">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_37">
|
|
<layout class="QVBoxLayout" name="verticalLayout_62">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_freenect2">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Freenect2</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_56" columnstretch="0,1">
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_269">
|
|
<property name="text">
|
|
<string>Depth edge aware filtering.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MaxDepth">
|
|
<property name="maximum">
|
|
<double>65.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>12.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_freenect2Format">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Registered Color to Depth SD</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Registered Depth to Color SD (old way)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Registered Depth to Color HD</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Registered Depth to Color HD (old way)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>IR + Depth</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_freenect2BilateralFiltering">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_268">
|
|
<property name="text">
|
|
<string>Depth bilateral filtering.</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="0">
|
|
<widget class="QCheckBox" name="checkBox_freenect2EdgeAwareFiltering">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_266">
|
|
<property name="text">
|
|
<string>Min depth.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_230">
|
|
<property name="text">
|
|
<string>Format.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_freenect2MinDepth">
|
|
<property name="maximum">
|
|
<double>64.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.300000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_270">
|
|
<property name="text">
|
|
<string>Depth noise filtering.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_267">
|
|
<property name="text">
|
|
<string>Max depth.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_freenect2NoiseFiltering">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_434">
|
|
<property name="text">
|
|
<string>Pipeline, any one of "gl cl clkde cuda cudakde cpu". If empty, default one is used. Depending on how libfreenect2 was built, the selected pipeline may not be available.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_freenect2Pipeline">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_68">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_63">
|
|
<layout class="QVBoxLayout" name="verticalLayout_106">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_realsense">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>RealSense</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_73" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="comboBox_realsensePresetDepth">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Best Quality</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Largest Image</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Highest Framerate</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_realsenseOdom_3">
|
|
<property name="text">
|
|
<string>RGB camera source. For fisheye has depth available only if it is calibrated.</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="0">
|
|
<widget class="QComboBox" name="comboBox_realsenseRGBSource">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Color</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Infrared</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Fisheye</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_318">
|
|
<property name="text">
|
|
<string>Preset for depth stream.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_317">
|
|
<property name="text">
|
|
<string>Preset for RGB stream.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkbox_realsenseDepthScaledToRGBSize">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_realsenseOdom">
|
|
<property name="text">
|
|
<string>Use visual inertial odometry for ZR300.</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="QLabel" name="label_realsenseOdom_2">
|
|
<property name="text">
|
|
<string>Depth image scaled to RGB image size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkbox_realsenseOdom">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_realsensePresetRGB">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Best Quality</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Largest Image</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Highest Framerate</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_67">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_47">
|
|
<layout class="QVBoxLayout" name="verticalLayout_79">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cameraRGBDImages">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>RGB-D Images</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_35" columnstretch="0,0,1">
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_540">
|
|
<property name="text">
|
|
<string>Maximum frames after start position. 0 means publishing all frames.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraRGBDImages_scale">
|
|
<property name="toolTip">
|
|
<string>For RGBD-SLAM datasets, it is 5.</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_depth">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_252">
|
|
<property name="text">
|
|
<string>Path to directory containing RGB images.</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="QSpinBox" name="spinBox_cameraRGBDImages_maxFrames">
|
|
<property name="maximum">
|
|
<number>9999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QSpinBox" name="spinBox_cameraRGBDImages_startIndex">
|
|
<property name="maximum">
|
|
<number>9999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraRGBDImages_path_rgb">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="2">
|
|
<widget class="QLabel" name="label_441">
|
|
<property name="text">
|
|
<string>Start position (index).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_rgb">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_257">
|
|
<property name="text">
|
|
<string>Depth scale factor (depth = pixel value / factor).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraRGBDImages_path_depth">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_254">
|
|
<property name="text">
|
|
<string>Path to directory containing depth images. The directory should have the same size has the RGB directory. The depth images should be already registered to RGB images. Assume that UINT16 images are in mm and FLOAT32 images are in m.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_42">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_72">
|
|
<layout class="QVBoxLayout" name="verticalLayout_127" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_k4w2">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Kinect for Windows SDK v2</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_96" columnstretch="0,0">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_k4w2Format">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Registered Color to Depth SD</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Registered Depth to Color SD</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Registered Depth to Color HD</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_440">
|
|
<property name="text">
|
|
<string>Format.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_40">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_55">
|
|
<layout class="QVBoxLayout" name="verticalLayout_103" stretch="0,0">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_realsense2">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>RealSense2</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_100" columnstretch="0,0,1">
|
|
<item row="10" column="0">
|
|
<widget class="QToolButton" name="toolButton_rs2_jsonFile">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QCheckBox" name="checkbox_rs2_globalTimeStync">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_rs2_jsonFile"/>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_562">
|
|
<property name="text">
|
|
<string>Use depth image in IR mode (instead of right image).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="2">
|
|
<widget class="QLabel" name="label_613">
|
|
<property name="text">
|
|
<string>(L515 or playback) Depth stream rate.</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="2">
|
|
<widget class="QLabel" name="label_471">
|
|
<property name="text">
|
|
<string>IR mode: use IR camera instead of RGB camera. Tracking will be more accurate (field-of-view of the IR camera is larger with less motion blur). Make sure to disable IR emitter. </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="2">
|
|
<widget class="QLabel" name="label_571">
|
|
<property name="text">
|
|
<string><html><head/><body><p>D400 Series Visual Presets. See this <a href="https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets"><span style=" text-decoration: underline; color:#0000ff;">page</span></a>.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_550">
|
|
<property name="text">
|
|
<string>RGB/IR stream height. Set 720 for L515.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QSpinBox" name="spinBox_rs2_rate">
|
|
<property name="suffix">
|
|
<string> Hz</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_551">
|
|
<property name="text">
|
|
<string>RGB/IR stream rate. Set 30 for L515.</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_549">
|
|
<property name="text">
|
|
<string>RGB/IR stream width. Set 1280 for L515.</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_rs2_width">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_468">
|
|
<property name="text">
|
|
<string>IR emitter enabled</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="QCheckBox" name="checkbox_rs2_irMode">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="2">
|
|
<widget class="QLabel" name="label_612">
|
|
<property name="text">
|
|
<string>(L515 or playback) Depth stream height.</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="QSpinBox" name="spinBox_rs2_height">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="2">
|
|
<widget class="QLabel" name="label_611">
|
|
<property name="text">
|
|
<string>(L515 or playback) Depth stream width.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QCheckBox" name="checkbox_rs2_emitter">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="2">
|
|
<widget class="QLabel" name="label_606">
|
|
<property name="text">
|
|
<string>Global time sync. This will make sure IMU data is interpolated at image timestamp, otherwise latest received IMU is synchronized to current frame. Set to off if your firmware of your camera cannot synchronize timestamps.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QSpinBox" name="spinBox_rs2_width_depth">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QSpinBox" name="spinBox_rs2_rate_depth">
|
|
<property name="suffix">
|
|
<string> Hz</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QSpinBox" name="spinBox_rs2_height_depth">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QCheckBox" name="checkbox_rs2_irDepth">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_34">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_84">
|
|
<layout class="QVBoxLayout" name="verticalLayout_145" stretch="0,0">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_k4a">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Kinect for Azure</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_113" columnstretch="0,0,1">
|
|
<item row="3" column="1">
|
|
<widget class="QCheckBox" name="checkbox_k4a_irDepth">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QCheckBox" name="source_checkBox_useMKVStamps">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="2">
|
|
<widget class="QLabel" name="label_604">
|
|
<property name="text">
|
|
<string>Use MKV file stamps as input rate.</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="2">
|
|
<widget class="QLabel" name="label_601">
|
|
<property name="text">
|
|
<string>Frames per second</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QToolButton" name="toolButton_k4a_mkv">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_k4a_mkv">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QComboBox" name="comboBox_k4a_framerate">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>5</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>15</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>30</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QComboBox" name="comboBox_k4a_rgb_resolution">
|
|
<item>
|
|
<property name="text">
|
|
<string>720p</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>1080p</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>1440p</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>1536p</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>2160p</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>3072p</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_603">
|
|
<property name="text">
|
|
<string>Path to a *.MKV file.</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_558">
|
|
<property name="text">
|
|
<string>Use IR for RGB image (may work better in dark areas).</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="QComboBox" name="comboBox_k4a_depth_resolution">
|
|
<item>
|
|
<property name="text">
|
|
<string>320x288 (NFOV 2x2BINNED)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>640x576 (NFOV UNBINNED)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>512x512 (WFOV 2x2BINNED)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>1024x1024 (WFOV UNBINNED)</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_602">
|
|
<property name="text">
|
|
<string>Depth camera resolution. 2x2 binning mode extends the Z-range in comparison to the corresponding unbinned mode. Binning is done at the cost of lowering image resolution.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_600">
|
|
<property name="text">
|
|
<string><html><head/><body><p>RGB camera resolution. Note that when color camera is used (IR mode is not checked below), to <span style=" font-weight:600;">avoid black borders in point clouds</span> generated, set ROI ratios under 3D Rendering settings to &quot;0.05 0.05 0.05 0.05&quot; under Map and Odom columns.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_33">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_99">
|
|
<layout class="QVBoxLayout" name="verticalLayout_180">
|
|
<item>
|
|
<spacer name="verticalSpacer_3">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_100">
|
|
<layout class="QVBoxLayout" name="verticalLayout_182">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_orbbec_sdk">
|
|
<property name="title">
|
|
<string>Orbbec SDK</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_181">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_orbbec_res">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Resolution</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_136" columnstretch="0,0,1">
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_orbbec_sdk_depth_width">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QSpinBox" name="spinBox_orbbec_sdk_depth_height">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_775">
|
|
<property name="text">
|
|
<string>Depth</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_orbbec_sdk_color_width">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_774">
|
|
<property name="text">
|
|
<string>Color</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QLabel" name="label_776">
|
|
<property name="text">
|
|
<string>Width</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_777">
|
|
<property name="text">
|
|
<string>Height</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QSpinBox" name="spinBox_orbbec_sdk_color_height">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_137" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_780">
|
|
<property name="text">
|
|
<string>Enable IMU</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_779">
|
|
<property name="text">
|
|
<string>Rectify color frames</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_orbbec_sdk_imu">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_orbbec_sdk_color_rectification">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_778">
|
|
<property name="text">
|
|
<string>Convert depth in mm (16 bits format)</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_orbbec_sdk_depth_mm">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_32">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_44">
|
|
<layout class="QVBoxLayout" name="verticalLayout_71">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_sourceStereo">
|
|
<property name="title">
|
|
<string>Stereo</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_67">
|
|
<item>
|
|
<widget class="QLabel" name="label_46">
|
|
<property name="text">
|
|
<string>Grabber for stereo devices (i.e., Bumblebee2, RealSense2, DepthAI, Zed cameras).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_58" columnstretch="0,0,1">
|
|
<item row="3" column="2">
|
|
<widget class="QLabel" name="label_stereo_rectify_2">
|
|
<property name="text">
|
|
<string>Auto exposure compensation between left and right images.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_240">
|
|
<property name="text">
|
|
<string>Driver.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QComboBox" name="comboBox_cameraStereo">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>DC1394</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FlyCapture2</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Images</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Video</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ZED sdk</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Usb camera</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Tara Camera</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RealSense2</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>MyntEyeS</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ZED Open Capture</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>DepthAI</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QCheckBox" name="checkBox_stereo_rectify">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_stereo_depthGenerated">
|
|
<property name="text">
|
|
<string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QCheckBox" name="checkBox_stereo_exposureCompensation">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_stereo_rectify_3">
|
|
<property name="text">
|
|
<string>Convert right image to gray scale if not already.</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="2">
|
|
<widget class="QLabel" name="label_stereo_rectify">
|
|
<property name="text">
|
|
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</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="QCheckBox" name="checkbox_stereo_depthGenerated">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QCheckBox" name="checkBox_stereo_rightGrayScale">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_stereo">
|
|
<property name="currentIndex">
|
|
<number>5</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_49">
|
|
<layout class="QVBoxLayout" name="verticalLayout_91"/>
|
|
</widget>
|
|
<widget class="QWidget" name="page_48">
|
|
<layout class="QVBoxLayout" name="verticalLayout_92"/>
|
|
</widget>
|
|
<widget class="QWidget" name="page_53">
|
|
<layout class="QVBoxLayout" name="verticalLayout_70">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cameraStereoImages">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Stereo Images</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_61" columnstretch="0,0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraStereoImages_path_left">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<spacer name="verticalSpacer_38">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_249">
|
|
<property name="text">
|
|
<string>Path to directory containing left images.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_path_left">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_253">
|
|
<property name="text">
|
|
<string>Path to directory containing right images. The directory should have the same size has the left images directory. </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="QLineEdit" name="lineEdit_cameraStereoImages_path_right">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraStereoImages_path_right">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_442">
|
|
<property name="text">
|
|
<string>Start position (index).</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="QSpinBox" name="spinBox_cameraStereoImages_startIndex">
|
|
<property name="maximum">
|
|
<number>9999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="2">
|
|
<widget class="QLabel" name="label_530">
|
|
<property name="text">
|
|
<string>Maximum frames after start position. 0 means publishing all frames.</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_cameraStereoImages_maxFrames">
|
|
<property name="maximum">
|
|
<number>9999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_50">
|
|
<layout class="QVBoxLayout" name="verticalLayout_78">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cameraStereoVideo">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Stereo Video (*.avi, *.mp4)</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_66" columnstretch="0,0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraStereoVideo_path">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraStereoVideo_path">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<spacer name="verticalSpacer_39">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_339">
|
|
<property name="text">
|
|
<string>Side-by-Side (SBS) video or left video.</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="2">
|
|
<widget class="QLabel" name="label_340">
|
|
<property name="text">
|
|
<string>Right video. Should be empty if a SBS video is set above.</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="QLineEdit" name="lineEdit_cameraStereoVideo_path_2">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraStereoVideo_path_2">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_59">
|
|
<layout class="QVBoxLayout" name="verticalLayout_101">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cameraStereoZed">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Zed sdk</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_343">
|
|
<property name="text">
|
|
<string>Self-Calibration.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="comboBox_stereoZed_quality">
|
|
<item>
|
|
<property name="text">
|
|
<string>NONE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>PERFORMANCE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>QUALITY</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ULTRA</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>NEURAL LIGHT</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>NEURAL</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>NEURAL PLUS</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_570">
|
|
<property name="text">
|
|
<string>[SDK3] Texture confidence. Threshold to reject depth values based on their textureness confidence. A lower value means more confidence and precision (but less density). An upper value reduces filtering (more density, less certainty.).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_274">
|
|
<property name="text">
|
|
<string>Resolution. Not used when a SVO file is used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_306">
|
|
<property name="text">
|
|
<string>Depth confidence. Filtering value for the disparity map (and by extension the depth map). A lower value means more confidence and precision (but less density), an upper value reduces the filtering (more density, less certainty).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_291">
|
|
<property name="text">
|
|
<string>Sensing mode.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereoZed_confidenceThr">
|
|
<property name="maximum">
|
|
<number>100</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereoZed_texturenessConfidenceThr">
|
|
<property name="maximum">
|
|
<number>100</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<layout class="QHBoxLayout" name="horizontalLayout_8">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_zedSvoPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_zedSvoPath">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkbox_stereoZed_selfCalibration">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_290">
|
|
<property name="text">
|
|
<string>Quality. If NONE, the disparity is not computed on the GPU, but on CPU using OpenCV (see StereoBM panel for parameters).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_305">
|
|
<property name="text">
|
|
<string>Path to a *.SVO file.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
|
|
<item>
|
|
<property name="text">
|
|
<string>STANDARD</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FILL</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<spacer name="verticalSpacer_54">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_stereoZed_resolution">
|
|
<item>
|
|
<property name="text">
|
|
<string>AUTO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HD4K</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>QHDPLUS</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HD2K</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HD1536</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HD1080</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HD1200</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HD720</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SVGA</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>VGA</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>XVGA</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>TXVGA</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_60">
|
|
<layout class="QVBoxLayout" name="verticalLayout_86">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cameraStereoUsb">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Usb Camera</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_99" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_620">
|
|
<property name="text">
|
|
<string>Stream width (0 for default resolution).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<spacer name="verticalSpacer_51">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereousbcam_streamHeight">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_619">
|
|
<property name="text">
|
|
<string>Stream height (0 for default resolution).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereousbcam_streamWidth">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereo_right_device">
|
|
<property name="minimum">
|
|
<number>-1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_470">
|
|
<property name="text">
|
|
<string>Optional right device ID. It should be -1 if the stereo camera streams side-by-side images.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_755">
|
|
<property name="text">
|
|
<string><html><head/><body><p>FOURCC (<a href="https://fourcc.org/codecs.php"><span style=" text-decoration: underline; color:#0000ff;">https://fourcc.org/codecs.php</span></a>).</p></body></html></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="0">
|
|
<widget class="QLineEdit" name="lineEdit_stereousbcam_fourcc">
|
|
<property name="toolTip">
|
|
<string>Should be 4 characters</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_77">
|
|
<layout class="QVBoxLayout" name="verticalLayout_135"/>
|
|
</widget>
|
|
<widget class="QWidget" name="page_80">
|
|
<layout class="QVBoxLayout" name="verticalLayout_140"/>
|
|
</widget>
|
|
<widget class="QWidget" name="page_86">
|
|
<layout class="QVBoxLayout" name="verticalLayout_148">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cameraMyntEye">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>MYNT EYE S</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_115" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkbox_stereoMyntEye_depth">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_576">
|
|
<property name="text">
|
|
<string>Compute depth image with MYNT EYE S SDK. Ignored if images are not rectified from MYNT EYE S SDK.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_581">
|
|
<property name="text">
|
|
<string>Rectify images using MYNT EYE S SDK.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkbox_stereoMyntEye_rectify">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereoMyntEye_brightness">
|
|
<property name="maximum">
|
|
<number>240</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>120</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereoMyntEye_gain">
|
|
<property name="maximum">
|
|
<number>48</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>24</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkbox_stereoMyntEye_autoExposure">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_595">
|
|
<property name="text">
|
|
<string>Image gain [0-48], valid if manual-exposure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_596">
|
|
<property name="text">
|
|
<string>Image brightness [0-240], valid if manual-exposure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_594">
|
|
<property name="text">
|
|
<string>Auto-exposure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_597">
|
|
<property name="text">
|
|
<string>Image contrast [0-254], valid if manual-exposure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereoMyntEye_contrast">
|
|
<property name="maximum">
|
|
<number>254</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>116</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_599">
|
|
<property name="text">
|
|
<string>IR control [0-160]. 0 means that the IR pattern is not projected.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="spinBox_stereoMyntEye_irControl">
|
|
<property name="maximum">
|
|
<number>160</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>116</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_85">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_88">
|
|
<layout class="QVBoxLayout" name="verticalLayout_154">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cameraStereoZedOC">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>Zed Open Capture</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_119" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_stereoZedOC_resolution">
|
|
<item>
|
|
<property name="text">
|
|
<string>HD2K</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HD1080</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HD720</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>VGA</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_624">
|
|
<property name="text">
|
|
<string>Resolution.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_70">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_89">
|
|
<layout class="QVBoxLayout" name="verticalLayout_155">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_cameraDepthAI">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="title">
|
|
<string>DepthAI</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_120" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_depthai_image_width">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>640</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>1280</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_626">
|
|
<property name="text">
|
|
<string>Image width.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="comboBox_depthai_output_mode">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Stereo</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Mono+Depth</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Color+Depth</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_625">
|
|
<property name="text">
|
|
<string>Output mode.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_depthai_conf_threshold">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>255</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>200</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_627">
|
|
<property name="text">
|
|
<string>Disparity confidence threshold (0-255).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_depthai_lrc_threshold">
|
|
<property name="minimum">
|
|
<number>-1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>255</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_748">
|
|
<property name="toolTip">
|
|
<string>Computes and combines disparities in both L-R and R-L directions, and combine them. </string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Disparity left-right check threshold. Set -1 to turn off.</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="0">
|
|
<widget class="QCheckBox" name="checkBox_depthai_extended_disparity">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_745">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Disparity range increased from 0-95 to 0-190, combined from full resolution and downscaled images.</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Extended disparity. Suitable for short range objects.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_depthai_disparity_companding">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_763">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p> * Matching pixel by pixel for N disparities.</p><p> * Matching every 2nd pixel for M disparitites.</p><p> * Matching every 4th pixel for T disparities.</p><p> * In case of 96 disparities: N=48, M=32, T=16.</p><p> * This way the search range is extended to 176 disparities, by sparse matching.</p><p> * Note: when enabling this flag only depth map will be affected, disparity map is not.</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Disparity companding using sparse matching.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QComboBox" name="comboBox_depthai_subpixel_fractional_bits">
|
|
<property name="currentIndex">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Disabled</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Subpixel 3</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Subpixel 4</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Subpixel 5</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_746">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Computes disparity with sub-pixel interpolation (3 fractional bits by default). </p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Subpixel mode: number of fractional bits. Suitable for long range.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QComboBox" name="comboBox_depthai_disparity_width">
|
|
<property name="currentIndex">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>64 pixels</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>96 pixels</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_747">
|
|
<property name="text">
|
|
<string>Disparity search range: 64 or 96 pixels are supported by the HW.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QComboBox" name="comboBox_depthai_median_filter">
|
|
<property name="currentIndex">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>MEDIAN_OFF</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>KERNEL 3x3</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>KERNEL 5x5</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>KERNEL 7x7</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_764">
|
|
<property name="text">
|
|
<string>Set kernel size for disparity/depth median filtering, or disable.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="checkBox_depthai_use_spec_translation">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_646">
|
|
<property name="text">
|
|
<string>Use the translation information from the board design data (not the calibration data).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_alpha_scaling">
|
|
<property name="minimum">
|
|
<double>-1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_678">
|
|
<property name="toolTip">
|
|
<string>On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0, in these cases alpha < 0.0 helps removing invalid areas.</string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). If alpha is set to -1, old rectification policy is used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QCheckBox" name="checkBox_depthai_imu_published">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_650">
|
|
<property name="text">
|
|
<string>IMU published</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_dot_intensity">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_676">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Intensity on range 0 to 1, that will determine brightness.</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>IR laser dot projector intensity. 0 to turn off.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_depthai_flood_intensity">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_677">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Intensity on range 0 to 1, that will determine brightness.</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>IR flood light intensity. 0 to turn off.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QComboBox" name="comboBox_depthai_detect_features">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>None</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SuperPoint</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HF-Net</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_679">
|
|
<property name="text">
|
|
<string>On-device feature detector.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<layout class="QHBoxLayout" name="horizontalLayout_15" stretch="0,1">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_depthai_blob_path">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_depthai_blob_path">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>100</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_680">
|
|
<property name="text">
|
|
<string>Path to MyriadX blob file.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_72">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_42">
|
|
<layout class="QVBoxLayout" name="verticalLayout_65">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_sourceRGB">
|
|
<property name="title">
|
|
<string>RGB</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_5">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_20">
|
|
<property name="text">
|
|
<string>Source type.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="source_comboBox_image_type">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Usb camera</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Images</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Video file</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_242">
|
|
<property name="text">
|
|
<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_rgb_rectify">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_image">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_7">
|
|
<layout class="QVBoxLayout" name="verticalLayout_30">
|
|
<item>
|
|
<widget class="QGroupBox" name="source_groupBox_usbcam">
|
|
<property name="title">
|
|
<string>USB Camera</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_112" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_usbcam_streamWidth">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_552">
|
|
<property name="text">
|
|
<string>Stream width (0 for default resolution).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_usbcam_streamHeight">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_553">
|
|
<property name="text">
|
|
<string>Stream height (0 for default resolution).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_usbcam_fourcc">
|
|
<property name="toolTip">
|
|
<string>Should be 4 characters</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_758">
|
|
<property name="text">
|
|
<string><html><head/><body><p>FOURCC (<a href="https://fourcc.org/codecs.php"><span style=" text-decoration: underline; color:#0000ff;">https://fourcc.org/codecs.php</span></a>).</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_8">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_5">
|
|
<layout class="QVBoxLayout" name="verticalLayout_6">
|
|
<item>
|
|
<widget class="QGroupBox" name="source_groupBox_images">
|
|
<property name="title">
|
|
<string>Images Dataset</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0">
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="source_images_lineEdit_path">
|
|
<property name="readOnly">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_21">
|
|
<property name="text">
|
|
<string>Start position (index).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="source_images_spinBox_startPos">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="source_images_toolButton_selectSource">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_34">
|
|
<property name="text">
|
|
<string>Maximum frames after start position. 0 means publishing all frames.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="source_images_spinBox_maxFrames">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_9">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_6">
|
|
<layout class="QVBoxLayout" name="verticalLayout_8">
|
|
<item>
|
|
<widget class="QGroupBox" name="source_groupBox_video">
|
|
<property name="title">
|
|
<string>Video (AVI)</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,0">
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="source_video_lineEdit_path">
|
|
<property name="readOnly">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="source_video_toolButton_selectSource">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_10">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_43">
|
|
<layout class="QVBoxLayout" name="verticalLayout_66">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_sourceDatabase">
|
|
<property name="title">
|
|
<string>Database</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1,0">
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_786">
|
|
<property name="text">
|
|
<string>Ignore IMU (i.e., gravity links).</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="0">
|
|
<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="source_database_toolButton_selectSource">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_58">
|
|
<property name="text">
|
|
<string>Start position (node ID).</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_90">
|
|
<property name="text">
|
|
<string>Use database stamps as input rate.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_ignoreIMU">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_653">
|
|
<property name="text">
|
|
<string>Ignore priors.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_644">
|
|
<property name="text">
|
|
<string>Ignore features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_ignoreFeatures">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_315">
|
|
<property name="text">
|
|
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. Leave empty to use all cameras. Can also be multiple indices split by spaces in a string like "0 2" to stream cameras 0 and 2 only.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_ignoreLandmarks">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QToolButton" name="toolButton_dbViewer">
|
|
<property name="toolTip">
|
|
<string>Open database viewer</string>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="icon">
|
|
<iconset resource="../GuiLib.qrc">
|
|
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_263">
|
|
<property name="text">
|
|
<string>Ignore goals saved in the database.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_797">
|
|
<property name="text">
|
|
<string>Publish intermediate nodes as normal nodes.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_557">
|
|
<property name="text">
|
|
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QSpinBox" name="source_spinBox_databaseStopId">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_529">
|
|
<property name="text">
|
|
<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_546">
|
|
<property name="text">
|
|
<string>Ignore landmarks.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QLineEdit" name="source_lineEdit_databaseLocalTransformOffset"/>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="source_spinBox_databaseStartId">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_80">
|
|
<property name="text">
|
|
<string>Ignore goal delay.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_785">
|
|
<property name="text">
|
|
<string>Add an y-axis offset before optical rotation on the overriden local transform(s). For multi-cameras,explicitly enumerate offsets if they are different (e.g., "0.05 0.075" for two cameras setup), or set single number to apply to all camera transforms.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_784">
|
|
<property name="text">
|
|
<string>Override camera local transform(s) with local transform(s) set above. For multi-cameras, use a ";" between each transform.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_overrideLocalTransforms">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_intermediateNodesAreNormalNodes">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_ignorePriors">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QLineEdit" name="source_lineEdit_databaseCameraIndex"/>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_72">
|
|
<property name="text">
|
|
<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_35">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_96">
|
|
<layout class="QVBoxLayout" name="verticalLayout_13">
|
|
<item>
|
|
<spacer name="verticalSpacer_46">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>1375</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_sourceImages_optional">
|
|
<property name="title">
|
|
<string>Directory of images (optional settings)</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_93">
|
|
<property name="leftMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="bottomMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QComboBox" name="comboBox_cameraImages_bayerMode">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Disabled</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>BG</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GB</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RG</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GR</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0<br/>KITTI: /base_footprint to /scan = -0.27 0 1.75 0 0 0</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>0 0 0 0 0 0</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraImages_gt">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="18" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraImages_imu_transform">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>EuRoC: /base_link to /imu = 0 0 1 0 -1 0 1 0 0</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>0 0 0 0 0 0</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="18" column="2">
|
|
<widget class="QLabel" name="label_464">
|
|
<property name="text">
|
|
<string>Local transform from /base_link to /imu_link. Mouse over the box to show formats.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="19" column="2">
|
|
<widget class="QLabel" name="label_465">
|
|
<property name="text">
|
|
<string>IMU Rate. To synchronize capture rate with IMU timestamps, set to 0. This can be set a little over the actual IMU rate to keep up with camera capture rate if images are dropped by odometry.</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="2">
|
|
<widget class="QLabel" name="label_605">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Load config file for each frame. Config files are read from the calibration folder and should have the same name than the corresponding frame file. Currently supporting 3DScannerApp for iOS export config format (JSON, intrinsics, pose and stamp) and RTAB-Map calibration file format. </p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraImages_odom">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_256">
|
|
<property name="text">
|
|
<string>Synchronize capture rate with timestamps.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)<br/>EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)</p></body></html></string>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Raw</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RGBD-SLAM (motion capture)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>KITTI</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>TORO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>g2o</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>NewCollege</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Malaga Urban</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>St Lucia Stereo</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Karlsruhe</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>EuRoC MAV</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RGBD-SLAM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RGBD-SLAM + ID</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>rgbd_bonn</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_265">
|
|
<property name="text">
|
|
<string>Bayer mode. For convenience, if the images are bayered.</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_255">
|
|
<property name="text">
|
|
<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_798">
|
|
<property name="toolTip">
|
|
<string>Naming <prefix>_<index>.yaml, or <prefix>_<index>_left.yaml and <prefix>_<index>_right.yaml for stereo, index starting at 0</string>
|
|
</property>
|
|
<property name="text">
|
|
<string><html><head/><body><p>Multi-camera mode: each image is a horizontal stack of N sub-camera images (for stereo, both left and right images are stacked the same way). One calibration file per sub-camera (see naming format on tooltip) must be in the calibration folder. A local_transform (rig extrinsics) is required in each file.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraImages_path_imu">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="2">
|
|
<widget class="QLabel" name="label_348">
|
|
<property name="text">
|
|
<string>Odometry file. Select the correct format below.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraImages_odom">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="19" column="1">
|
|
<widget class="QSpinBox" name="spinBox_cameraImages_max_imu_rate">
|
|
<property name="toolTip">
|
|
<string>EuRoC: 200 Hz -> 250 Hz</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="2">
|
|
<widget class="QLabel" name="label_349">
|
|
<property name="text">
|
|
<string>Odometry format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraImages_path_imu">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>cvs format (comma split): &quot;stamp_sec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p><p>EuRoC format: &quot;stamp_nanosec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="2">
|
|
<widget class="QLabel" name="label_289">
|
|
<property name="text">
|
|
<string>Ground truth format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_251">
|
|
<property name="text">
|
|
<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxPoseTimeDiff">
|
|
<property name="suffix">
|
|
<string> s</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.990000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.020000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QCheckBox" name="checkBox_cameraImages_multiCameraCalibration">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="2">
|
|
<widget class="QLabel" name="label_293">
|
|
<property name="text">
|
|
<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </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="QCheckBox" name="checkBox_cameraImages_configForEachFrame">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QToolButton" name="toolButton_cameraImages_timestamps">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="2">
|
|
<widget class="QLabel" name="label_288">
|
|
<property name="text">
|
|
<string>Ground truth file. Select the correct format below.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="2">
|
|
<widget class="QLabel" name="label_463">
|
|
<property name="text">
|
|
<string>Path to file containing optional IMU data (*.csv [EuRoC format]). Mouse over the box to show formats.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_cameraImages_gt_transform">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>0 0 0 0 0 0</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="2">
|
|
<widget class="QLabel" name="label_294">
|
|
<property name="text">
|
|
<string>Local transform from /base_link to /laser_link. Mouse over the box to show formats.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QComboBox" name="comboBox_cameraImages_odomFormat">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)<br/>EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)</p></body></html></string>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Raw</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RGBD-SLAM (motion capture)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>KITTI</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>TORO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>g2o</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>NewCollege</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Malaga Urban</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>St Lucia Stereo</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Karlsruhe</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>EuRoC MAV</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RGBD-SLAM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RGBD-SLAM + ID</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>rgbd_bonn</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="2">
|
|
<widget class="QLabel" name="label_292">
|
|
<property name="text">
|
|
<string>Maximum laser scan points.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="2">
|
|
<widget class="QLabel" name="label_794">
|
|
<property name="text">
|
|
<string>Local transform from /base_link to /gt_link. Mouse over the box to show formats. By default, we assume the ground truth matches the base frame, if the ground truth refers to another frame, set this to convert the poses in base frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="2">
|
|
<widget class="QLabel" name="label_443">
|
|
<property name="text">
|
|
<string>Max time difference between data and corresponding pose for format with stamps. If delay is over this threshold, the pose won't be set on data loaded. This is used when odometry and/or ground truth files are set.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_depthFromScan">
|
|
<property name="title">
|
|
<string>Generate depth image from laser scan</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_100">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_depthFromScan_fillHoles">
|
|
<property name="title">
|
|
<string>Interpolate depth values to fill holes</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_99">
|
|
<item>
|
|
<widget class="QRadioButton" name="radioButton_depthFromScan_vertical">
|
|
<property name="text">
|
|
<string>Vertically</string>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QRadioButton" name="radioButton_depthFromScan_horizontal">
|
|
<property name="text">
|
|
<string>Horizontally</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QCheckBox" name="checkBox_depthFromScan_fillBorders">
|
|
<property name="text">
|
|
<string>Fill holes from the image border.</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_depthImageFiltering">
|
|
<property name="title">
|
|
<string>Depth Image Filtering</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_94">
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_10" stretch="0,0,0,1">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_source_distortionModel">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_source_distortionModel">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>100</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_distortionModel">
|
|
<property name="toolTip">
|
|
<string>Open database viewer</string>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="icon">
|
|
<iconset resource="../GuiLib.qrc">
|
|
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_341">
|
|
<property name="text">
|
|
<string>Distortion model (output from depth calibration).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_bilateral">
|
|
<property name="title">
|
|
<string>Bilateral Filtering of the Depth Image</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_78" columnstretch="0,1">
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_bilateral_sigmaR">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<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>0.005000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_344">
|
|
<property name="text">
|
|
<string>Standard deviation of the Gaussian for the intensity difference. Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_bilateral_sigmaS">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>5.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_345">
|
|
<property name="text">
|
|
<string>Size of the Gaussian bilateral filter window to use. Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_imuFiltering">
|
|
<property name="title">
|
|
<string>IMU Filtering</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_141">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_133" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_imuFilter_strategy">
|
|
<item>
|
|
<property name="text">
|
|
<string>None</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Madgwick Filter</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Complementary Filter</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_541">
|
|
<property name="text">
|
|
<string>IMU filtering strategy used to estimate the orientation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QFrame" name="frame_imu_filtering">
|
|
<layout class="QGridLayout" name="gridLayout_109" columnstretch="0,1">
|
|
<property name="leftMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="bottomMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_imuFilter_baseFrameConversion">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_imuFilter_baseFrameConversion">
|
|
<property name="text">
|
|
<string>Convert IMU in base frame before filtering. This can help to initialize correctly the yaw.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkbox_publishInterIMU">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_563">
|
|
<property name="text">
|
|
<string>Publish inter IMU messages from the camera. IMU received between images will be published as separate topic. Orientation overridden (if any) if IMU filtering is used. </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_imuFilter">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_83">
|
|
<layout class="QVBoxLayout" name="verticalLayout_144">
|
|
<item>
|
|
<spacer name="verticalSpacer_80">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_81">
|
|
<layout class="QVBoxLayout" name="verticalLayout_142">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_madgwickfilter">
|
|
<property name="title">
|
|
<string>Madgwick Filter</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_110" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterMadgwickGain">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_542">
|
|
<property name="text">
|
|
<string>Gain.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterMadgwickZeta">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_543">
|
|
<property name="text">
|
|
<string>Zeta.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_79">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_82">
|
|
<layout class="QVBoxLayout" name="verticalLayout_143">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_complementaryfilter">
|
|
<property name="title">
|
|
<string>Complementary Filter</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_111" columnstretch="0,1">
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_547">
|
|
<property name="text">
|
|
<string>Do bias estimation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_544">
|
|
<property name="text">
|
|
<string>Gain acc.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_imuFilterComplementaryDoBiasEstimation">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterComplementaryGainAcc">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_545">
|
|
<property name="text">
|
|
<string>Bias alpha.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterComplementaryBiasAlpha">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_imuFilterComplementaryDoAdaptiveGain">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_548">
|
|
<property name="text">
|
|
<string>Do adaptive gain.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_81">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odom_sensor">
|
|
<property name="title">
|
|
<string>Odometry Sensor</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_178">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_122" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_odom_sensor">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>None</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RealSense2 (T265)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ZED sdk</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SeerSense</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_633">
|
|
<property name="text">
|
|
<string>Driver.</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="QLabel" name="label_770">
|
|
<property name="text">
|
|
<string>Pass input odometry as guess to internal odometry. Otherwise, internal odometry is skipped and input odometry is sent directly to SLAM's back-end. This applies to all sources that can provide odometry (e.g., odometry file, database, ...).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkbox_passthrough_source_odom">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QFrame" name="frame_visual_odometry_sensor">
|
|
<layout class="QGridLayout" name="gridLayout_131" columnstretch="0,1">
|
|
<property name="leftMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="bottomMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_565">
|
|
<property name="text">
|
|
<string>ID of the device, which might be a serial number, bus@address or the index of the device. If empty, the first device found is taken.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_638">
|
|
<property name="text">
|
|
<string>Use as ground truth. The odometry poses will be saved in ground truth field of sensor data instead of being used as odometry. The actual odometry will be computed by rtabmap using the camera sensor. This can be useful to compare rtabmap odometry versus odometry sensor, and to estimate a scale factor between the sensors (using "rtabmap-report -- scale") that can be used above.</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="QLabel" name="label_637">
|
|
<property name="text">
|
|
<string>Time offset between camera and visual odometry sensors.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_sensor_time_offset">
|
|
<property name="suffix">
|
|
<string> ms</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-999.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QPushButton" name="pushButton_odom_sensor_calibrate">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="text">
|
|
<string>Calibrate Extrinsics</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkBox_odom_sensor_use_as_gt">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_634">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Extrinsics between pose frame and camera's left lens (without optical rotation). Default extrinsics match the 3D printed bracket <a href=" https://www.intelrealsense.com/depth-and-tracking-combined-get-started/"><span style=" text-decoration: underline; color:#0000ff;">here</span></a> for T265+D400 setup. (<a href="https://github.com/IntelRealSense/realsense-ros/blob/occupancy-mapping/realsense2_camera/meshes/mount_t265_d435.stl"><span style=" text-decoration: underline; color:#0000ff;">stl</span></a>). Not used if camera and visual odometry sensors are the same sensor.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_635">
|
|
<property name="text">
|
|
<string>Calibrate extrinsics between visual odometry sensor and camera. Both sensors should be already calibrated. See Calibrate button above to calibrate them individually.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_754">
|
|
<property name="text">
|
|
<string>Maximum wait time to get the pose for latest data captured.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<layout class="QHBoxLayout" name="horizontalLayout_14" stretch="0,1">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_odom_sensor_path_calibration">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_odom_sensor_path_calibration">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>100</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_sensor_wait_time">
|
|
<property name="suffix">
|
|
<string> ms</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1000.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_odom_sensor_extrinsics">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p><br/></p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>0.009 0.021 0.027 0.000 -0.018 0.005</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_odomSourceDevice">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_639">
|
|
<property name="text">
|
|
<string>Scale factor between camera and visual odometry sensor. This factor is multiplied to translation components of each pose in the odometry trajectory.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_636">
|
|
<property name="text">
|
|
<string>Calibration file path (*.yaml) for the visual odometry sensor. If empty, the GUID of the camera is used (for those having one). Only required to calibrate extrinsics.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_sensor_scale_factor">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_scan">
|
|
<property name="title">
|
|
<string>LiDAR Sensor</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_173">
|
|
<item>
|
|
<widget class="QLabel" name="label_16">
|
|
<property name="text">
|
|
<string>If you want to use ICP registration, the sensor data should have laser scan. Laser scans can be created from the depth images (see option below) or loaded from the source selected. These parameters can be used to reduce the point cloud size directly in the capturing thread.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_62" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_lidar_src">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>None</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>VLP-16</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_741">
|
|
<property name="toolTip">
|
|
<string>LiDAR odometry will update the camera local transform to match its real pose at the LiDAR stamp.</string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Grabber for LiDAR devices (e.g., Velodyne). The capture will be synchronized with LiDAR frame rate. If a camera driver is set, images will be added to LiDAR capture.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_source_scanFromDepth">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_source_scanFromDepth">
|
|
<property name="text">
|
|
<string>Generate laser scan from depth image.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QFrame" name="frame_lidar_sensor">
|
|
<layout class="QGridLayout" name="gridLayout_132" columnstretch="0,1">
|
|
<property name="leftMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="bottomMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanRangeMax">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanVoxelSize">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
|
</property>
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_source_scanDownsampleStep">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_522">
|
|
<property name="text">
|
|
<string>Minimum range, filter points below that range. 0 means disabled.</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="QLabel" name="label_7471">
|
|
<property name="text">
|
|
<string>Lidar deskewing. The input scan should have time channel and "Visual Odometry Sensor" should be used. If only IMU is available through the camera, enable publishing of inter IMU under "IMU filtering" above and enable deskewing in Odometry parameters instead.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_425">
|
|
<property name="text">
|
|
<string>Search radius for normals computation (0=disabled). Useful if the ICP registration approach is point to plane.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_302">
|
|
<property name="text">
|
|
<string>Voxel size for uniform sampling. Note that it is done after downsampling.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanRangeMin">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_lidar_local_transform">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 0 0 0 0<br/>KITTI: /base_link to /color_camera = 0 -0.06 0 0 0 0<br/>KITTI: /base_footprint to /gray_camera = 0 0 1.67 0 0 0<br/>KITTI: /base_footprint to /color_camera = 0 -0.06 1.67 0 0 0</p><p>EuRoC MAV: /base_link to /cam0 = T_BS*T_SC0 = 0.999661 0.0257743 -0.00375625 0.00981073 -0.0257154 0.999557 0.0149672 0.064677 0.00414035 -0.0148655 0.999881 -0.0216401</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>0 0 0 0 0 0</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_162">
|
|
<property name="text">
|
|
<string>Local transform from /base_link to /laser_link. Mouse over the box to show formats.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_523">
|
|
<property name="text">
|
|
<string>Maximum range, filter points above that range. 0 means disabled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="spinBox_source_scanNormalsK">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99999999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_304">
|
|
<property name="text">
|
|
<string>K nearest neighbors for normals computation (0=disabled, 20 can be a good default value). Useful if the ICP registration approach is point to plane.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_source_scanDeskewing">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanNormalsRadius">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_453">
|
|
<property name="text">
|
|
<string>Force ground normals to be all upward (e.g., 0.8). Useful to make sure Velodyne's scans on ground have all normals upward. 0 means disabled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanNormalsForceGroundUp">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_300">
|
|
<property name="text">
|
|
<string>Downsample step size for laser scans. If your laser scans are created from depth images, the step is used as decimation of the depth images.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QPushButton" name="pushButton_test_lidar">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="text">
|
|
<string>Test</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_lidar_src">
|
|
<property name="currentIndex">
|
|
<number>1</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_98">
|
|
<layout class="QVBoxLayout" name="verticalLayout_177">
|
|
<item>
|
|
<spacer name="verticalSpacer_83">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>255</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_97">
|
|
<layout class="QVBoxLayout" name="verticalLayout_175">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_vlp16">
|
|
<property name="title">
|
|
<string>VLP16</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_49" columnstretch="0,0,1">
|
|
<item row="0" column="1">
|
|
<layout class="QHBoxLayout" name="horizontalLayout_18">
|
|
<item>
|
|
<widget class="QSpinBox" name="spinBox_vlp16_ip1">
|
|
<property name="buttonSymbols">
|
|
<enum>QAbstractSpinBox::NoButtons</enum>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>255</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QSpinBox" name="spinBox_vlp16_ip2">
|
|
<property name="buttonSymbols">
|
|
<enum>QAbstractSpinBox::NoButtons</enum>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>255</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QSpinBox" name="spinBox_vlp16_ip3">
|
|
<property name="buttonSymbols">
|
|
<enum>QAbstractSpinBox::NoButtons</enum>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>250</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QSpinBox" name="spinBox_vlp16_ip4">
|
|
<property name="buttonSymbols">
|
|
<enum>QAbstractSpinBox::NoButtons</enum>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>250</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_749">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>If the lidar is not connected to a GPS, the lidar's clock may be not in sync with the host computer's clock. By enabling this, as soon as a packet is received, it will be stamped with host time &quot;now&quot;. Note that it affects only the final scan timsestamp, not the individual relative timestamp for each point. It is recommended to enable this if you combine it with other sensors above and it is not connected to a GPS.</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Use host time. See tooltip for more info.</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_vlp16_hostTime">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0" rowspan="2">
|
|
<widget class="QToolButton" name="toolButton_vlp16_pcap_path">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_743">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Local network interface (IP address of <span style=" font-weight:600;">this</span> computer) on which to listen for VLP16 packets. Use 0.0.0.0 to listen on all interfaces (recommended). This is NOT the sensor's IP address; the sensor decides where to send its data (configure its destination host in the sensor's own web interface).</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Local IP to listen on (0.0.0.0 = all interfaces). See tooltip.</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_7481">
|
|
<property name="toolTip">
|
|
<string>This can speedup deskewing.</string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Output organized point cloud.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="2">
|
|
<widget class="QLabel" name="label_742">
|
|
<property name="text">
|
|
<string>Path to a *.PCAP file. IP/Port/Host time are ignored if PCAP file is used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1" rowspan="2">
|
|
<widget class="QLineEdit" name="lineEdit_vlp16_pcap_path">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QCheckBox" name="checkBox_vlp16_organized">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_744">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>Local UDP port on this computer to listen for VLP16 data packets (default 2368). The LiDAR must be configured to send its data to this port.</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Port to listen on (default 2368).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QSpinBox" name="spinBox_vlp16_port">
|
|
<property name="buttonSymbols">
|
|
<enum>QAbstractSpinBox::NoButtons</enum>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2368</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_750">
|
|
<property name="toolTip">
|
|
<string><html><head/><body><p>This makes synchronization closer with other sensors above as they will be pulled only after the scan is fully received.</p></body></html></string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Make the scan timestamp corresponding to timestamp of the last point of the rotation, otherwise it will be the timestamp of the first point of the rotation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QCheckBox" name="checkBox_vlp16_stamp_last">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_64">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_7">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_20">
|
|
<layout class="QVBoxLayout" name="verticalLayout_23">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_rtabmap_basic0">
|
|
<property name="title">
|
|
<string>RTAB-Map Settings</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate_2">
|
|
<property name="suffix">
|
|
<string> Hz</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_SLAM_mode_2">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_79">
|
|
<property name="text">
|
|
<string>SLAM mode.
|
|
If set to false, global localization is performed, so without adding new data to the map.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_activateRGBD_2">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_activateRGBD_2">
|
|
<property name="text">
|
|
<string>Activate metric RGB-D SLAM.
|
|
If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_publishStats_2">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_publishStat">
|
|
<property name="text">
|
|
<string>Publish statistics.</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="QLabel" name="label_134">
|
|
<property name="text">
|
|
<string>Detection rate (0 means inf). RTAB-Map will filter input images to satisfy this rate.</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="0">
|
|
<widget class="QSpinBox" name="general_spinBox_imagesBufferSize_2">
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_112">
|
|
<property name="text">
|
|
<string>Images buffer size (0 means inf).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr_2">
|
|
<property name="suffix">
|
|
<string> ms</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>50.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>700.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_timeLimit_2">
|
|
<property name="text">
|
|
<string>T_time : Max time (ms) allowed (0 means inf).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr_2">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.950000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_121">
|
|
<property name="text">
|
|
<string>T_loop : Loop closure threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_similarityThreshold_2">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.200000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_similarity_2">
|
|
<property name="text">
|
|
<string>T_similarity : Similarity threshold (for Rehearsal/Weight Update).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QSpinBox" name="general_spinBox_maxStMemSize_2">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>15</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_126">
|
|
<property name="text">
|
|
<string>STM size : Short-term memory size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_5">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page">
|
|
<layout class="QVBoxLayout" name="verticalLayout_44">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_rtabmap_advanced0">
|
|
<property name="title">
|
|
<string>RTAB-Map Settings</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_15">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_43" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_SLAM_mode">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_92">
|
|
<property name="text">
|
|
<string>SLAM mode.
|
|
If set to false, global localization is performed, so without adding new data to the map.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate">
|
|
<property name="suffix">
|
|
<string> Hz</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_135">
|
|
<property name="text">
|
|
<string>Detection rate (0 means inf). RTAB-Map will filter input data to satisfy this rate. If you want to process all data, consider set "Detection rate" to 0 and "Data buffer size" to 0.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="general_spinBox_imagesBufferSize">
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_84">
|
|
<property name="text">
|
|
<string>Data buffer size (0 means inf).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_createIntermediateNodes">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_165">
|
|
<property name="text">
|
|
<string>Create intermediate nodes if odometry is faster than the detection rate.</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="0">
|
|
<widget class="QCheckBox" name="general_checkBox_startNewMapOnLoopClosure">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_185">
|
|
<property name="text">
|
|
<string>Start a new map only if there is a global loop closure detected first with a previous map. If there is no map in memory, a new map is still created.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_startNewMapOnGoodSignature">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_329">
|
|
<property name="text">
|
|
<string>Start a new map only if the first signature is not bad (i.e., has enough features, see Vocabulary->Bad signature ratio).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_imagesAlreadyRectified">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_467">
|
|
<property name="text">
|
|
<string>Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_rectifyOnlyFeatures">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_498">
|
|
<property name="text">
|
|
<string>Rectify only features. If images are not already rectified (see parameter above) and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_saveLocalizationData">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_573">
|
|
<property name="text">
|
|
<string>Save localization data during localization session (when SLAM mode is false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_6">
|
|
<property name="title">
|
|
<string>Thresholds</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_44" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_maxWmSize">
|
|
<property name="text">
|
|
<string>Maximum signatures allowed in Working Memory (0 means inf).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_96">
|
|
<property name="text">
|
|
<string>T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.950000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr">
|
|
<property name="suffix">
|
|
<string> ms</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>50.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>700.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_timeLimit">
|
|
<property name="text">
|
|
<string>T_time : Max time (ms) allowed (0 means inf).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="general_spinBox_memoryThr">
|
|
<property name="maximum">
|
|
<number>99999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_93">
|
|
<property name="text">
|
|
<string>T_loop : Loop closure threshold. Setting to 0 means that the new place hypothesis is used as threshold.</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="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_loopRatio">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.700000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_332">
|
|
<property name="text">
|
|
<string>Loop closure threshold used (overriding T_loop) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (see "Max odometry cache size" under RGB-D SLAM panel). In all cases, the goal is to aggressively loop on a previous map in the database that is not linked to current map. Only used when RGB-D SLAM mode is enabled. Set 1 to disable.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_agressiveThr">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_publishing">
|
|
<property name="title">
|
|
<string>Publish statistics (stuff to be shown in the GUI) and save them in database</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_45" columnstretch="0,1">
|
|
<item row="4" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_publishRMSE">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_saveWMState">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_publishPdf">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_106">
|
|
<property name="text">
|
|
<string>Publish loop closure hypotheses (pdf).</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_462">
|
|
<property name="text">
|
|
<string>Save working memory state after each update.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_116">
|
|
<property name="text">
|
|
<string>Publish loop closure likelihood.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_452">
|
|
<property name="text">
|
|
<string>Publish RAM usage.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_437">
|
|
<property name="text">
|
|
<string>Compute RMSE when ground truth is available.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_publishRawData">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_publishLikelihood">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_91">
|
|
<property name="text">
|
|
<string>Publish signature data.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_publishRAM">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_652">
|
|
<property name="text">
|
|
<string>Maximum nodes republished when requesting missing data. When RGB-D SLAM mode is disabled, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if "Publish signature data" is unchecked.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="general_spinBox_max_republished">
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_statistics">
|
|
<property name="title">
|
|
<string>Log statistics (LogI.txt and LogF.txt) in the working directory.</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_46" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_statisticLogsBufferedInRAM">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_143">
|
|
<property name="text">
|
|
<string>Statistics logs buffered in RAM and written to hard drive on exit (otherwise logs are written at each iteration on hard drive).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_statisticLoggedHeaders">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_209">
|
|
<property name="text">
|
|
<string>Add headers (column names) to log files.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,0,0">
|
|
<item row="0" column="0">
|
|
<widget class="QLabel" name="label_workingDirectory">
|
|
<property name="text">
|
|
<string>Working directory (where to put logs/dump stuff).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QToolButton" name="toolButton_workingDirectory">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLineEdit" name="lineEdit_workingDirectory">
|
|
<property name="readOnly">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_4">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_3">
|
|
<layout class="QVBoxLayout" name="verticalLayout_4">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_memory1">
|
|
<property name="title">
|
|
<string>Memory</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_10">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_retrieved_16">
|
|
<property name="text">
|
|
<string>Save intermediate node data.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="1">
|
|
<widget class="QLabel" name="label_retrieved_6">
|
|
<property name="text">
|
|
<string>Image post decimation. Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than Pre Decimation, data already decimated is saved (no need to re-decimate the image).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_retrieved_3">
|
|
<property name="text">
|
|
<string>Bad signatures are ignored.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_retrieved_15">
|
|
<property name="text">
|
|
<string>Multi-threaded compression.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_retrieved_12">
|
|
<property name="text">
|
|
<string>Raw descriptors kept in memory.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_createMapLabels">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_retrieved_11">
|
|
<property name="text">
|
|
<string>Create map labels. The first node of a map will be labelled as "map#" where # is the map ID.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_saveIntermediateNodeData">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_retrieved_7">
|
|
<property name="text">
|
|
<string>On transfer, signatures are sorted by weight->ID (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="general_spinBox_maxRetrieved">
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_rotateImagesUpsideUp">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="1">
|
|
<widget class="QLabel" name="label_retrieved_13">
|
|
<property name="text">
|
|
<string>Image pre decimation. Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If Vocabulary->Depth As Mask is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_reduceGraph">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_29">
|
|
<property name="text">
|
|
<string>STM size : Short-term memory size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>50</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.200000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>15</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_keepRawData">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_ratioRecent">
|
|
<property name="text">
|
|
<string>T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_retrieved_4">
|
|
<property name="text">
|
|
<string>Initialize the Working Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_retrieved_19">
|
|
<property name="toolTip">
|
|
<string>This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet.</string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Rotate images so that upside is up if they are not already.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_transferSortingByWeightId">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_retrieved_10">
|
|
<property name="text">
|
|
<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100% of the loop closures accepted are good, so it is highly recommended to enable optimization error ratio at the same time.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="0">
|
|
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>16</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_retrieved_2">
|
|
<property name="text">
|
|
<string>True=Generate location Ids, False=use input image ids.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_retrieved">
|
|
<property name="text">
|
|
<string>Maximum locations retrieved at the same time from LTM to WM.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="0">
|
|
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>16</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_retrieved_9">
|
|
<property name="text">
|
|
<string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_retrieved_5">
|
|
<property name="text">
|
|
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</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="0">
|
|
<widget class="QCheckBox" name="general_checkBox_generateIds">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_retrieved_20">
|
|
<property name="text">
|
|
<string>Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_loadVisualLocalFeaturesOnInit">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_27">
|
|
<property name="title">
|
|
<string>Laser scan filtering</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>50</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_retrieved_8">
|
|
<property name="text">
|
|
<string>Downsampling step. If > 1, downsample the laser scans when creating a location. This feature can be used to save laser scans already downsampled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanNormalRadius">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>50</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="general_spinBox_laserScanNormalK">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>50</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_retrieved_14">
|
|
<property name="text">
|
|
<string>Normal K. If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.</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="QLabel" name="label_retrieved_17">
|
|
<property name="text">
|
|
<string>Normal Radius. If > 0 and laser scans don't have normals, normals will be computed with radius search when creating a signature.</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="QLabel" name="label_retrieved_18">
|
|
<property name="text">
|
|
<string>Voxel size. If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use Normal K or Normal Radius parameters below.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxelSize">
|
|
<property name="minimumSize">
|
|
<size>
|
|
<width>50</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_rehearsal2">
|
|
<property name="title">
|
|
<string>Rehearsal / Weight Update</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_RehearsalIdUpdatedToNewOne">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_similarity">
|
|
<property name="text">
|
|
<string>T_similarity : Similarity threshold. Values must be >=0.0 and <=1.0.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_similarityThreshold">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.200000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_rehearsalIdUpdate">
|
|
<property name="text">
|
|
<string>On merging, update to new id. Keep this unchecked if intermediate nodes are created.</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="QLabel" name="label_rehearsalIdUpdate_2">
|
|
<property name="text">
|
|
<string>Ignore Weight Update when the robot is moving.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="rgdb_rehearsalWeightIgnoredWhileMoving">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_6">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_9">
|
|
<layout class="QVBoxLayout" name="verticalLayout_58">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_signature_keypoint2">
|
|
<property name="title">
|
|
<string>Vocabulary</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_12">
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,1">
|
|
<item>
|
|
<widget class="QCheckBox" name="checkBox_useOdomFeatures">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_145">
|
|
<property name="text">
|
|
<string>Use odometry features. Disable to select different feature type. Note that if no features are received, they will be re-extracted (if visual odometry is used, you may want to match the feature type below with the one used for odometry).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_8">
|
|
<property name="title">
|
|
<string>Features Extraction</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_60">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_32" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_53">
|
|
<property name="text">
|
|
<string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
|
|
<property name="suffix">
|
|
<string> %</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
|
|
<property name="minimum">
|
|
<number>-1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>2000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>500</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_detector_strategy">
|
|
<item>
|
|
<property name="text">
|
|
<string>SURF</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SIFT</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ORB</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FAST+FREAK</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FAST+BRIEF</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT+FREAK</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT+BRIEF</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>BRISK</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT+ORB</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>KAZE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ORB OCTREE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SuperPoint Torch</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SURF+FREAK</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT+DAISY</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SURF+DAISY</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>PyDetector</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Superpoint Rpautrat</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_86">
|
|
<property name="text">
|
|
<string>Number of columns of the grid used to extract uniformly "max words / grid cells" features from each cell.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_57">
|
|
<property name="text">
|
|
<string>Minimum words depth. Only used when a depth image is provided. Applied before "Maximum words per image".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_7551">
|
|
<property name="text">
|
|
<string>If true, SSC (Suppression via Square Covering) is applied to limit keypoints.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.250000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_kp_roi">
|
|
<property name="readOnly">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_582">
|
|
<property name="text">
|
|
<string>Triangulate features without depth using stereo from motion (odometry). It would be ignored if depth as mask is checked and the feature detector used supports masking.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
|
|
<property name="suffix">
|
|
<string> %</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_maxDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_262">
|
|
<property name="text">
|
|
<string>Use depth image as mask when extracting features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_98">
|
|
<property name="text">
|
|
<string>Right ROI ratio (0 = no change).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_99">
|
|
<property name="text">
|
|
<string>Top ROI ratio (0 = no change).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_22">
|
|
<property name="toolTip">
|
|
<string>0 means that the response (hessian) threshold
|
|
used for the detector will not be adapted.
|
|
Otherwise, the threshold is modified to
|
|
generate the number of words requested.</string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Maximum words per image (0=no maximum). Setting to -1 will disable features extraction, so disabling loop closure detection indirectly.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_117">
|
|
<property name="text">
|
|
<string>Visual word type.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_97">
|
|
<property name="text">
|
|
<string>Left ROI ratio (0 = no change).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
|
|
<property name="suffix">
|
|
<string> %</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QSpinBox" name="spinBox_KPGridRows">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_memStereoFromMotion">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_101">
|
|
<property name="text">
|
|
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
|
|
<property name="suffix">
|
|
<string> %</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_memDepthAsMask">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_81">
|
|
<property name="text">
|
|
<string>Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kp_ssc">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_minDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_50">
|
|
<property name="text">
|
|
<string>Number of rows of the grid used to extract uniformly "max words / grid cells" features from each cell.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_100">
|
|
<property name="text">
|
|
<string>Bottom ROI ratio (0 = no change).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QSpinBox" name="spinBox_KPGridCols">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_591">
|
|
<property name="text">
|
|
<string>Filter floor from depth mask. 0 means disabled.</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="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_memDepthMaskFloorThr">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-99.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_15">
|
|
<property name="title">
|
|
<string>Sub Pixel Refining</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_76">
|
|
<item>
|
|
<widget class="QLabel" name="label_44">
|
|
<property name="text">
|
|
<string>Refining features to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_41" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="subpix_winSize_kp">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_202">
|
|
<property name="text">
|
|
<string>Window size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="subpix_iterations_kp">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>20</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_225">
|
|
<property name="text">
|
|
<string>Iterations. 0 disables sub pixel refining.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="subpix_eps_kp">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.030000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_227">
|
|
<property name="text">
|
|
<string>Epsilon.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_dictionary_strategy2">
|
|
<property name="title">
|
|
<string>Features Quantization</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_18" columnstretch="0,0,1">
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kp_newWordsComparedTogether">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QToolButton" name="toolButton_dictionaryPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="2">
|
|
<widget class="QLabel" name="label_451">
|
|
<property name="text">
|
|
<string>Rebuild the incremental FLANN index once the ratio (factor-1)/factor of its features has been removed, e.g. half of them for a factor of 2. Rebuilding frees the memory of the removed features and speeds up the searches. Features are mostly removed when memory management is enabled. Set to 1 to never rebuild, which also uses less memory as the features don't have to be referenced one by one.</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="2">
|
|
<widget class="QLabel" name="label_78">
|
|
<property name="text">
|
|
<string>NNDR ratio
|
|
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
|
|
Lower the ratio -> higher the precision.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="2">
|
|
<widget class="QLabel" name="label_260">
|
|
<property name="text">
|
|
<string>When using a FLANN-based nearest neighbor strategy, add/remove points to its index without always rebuilding the index (the index is only rebuilt when too many of its features have been removed, see the factor below).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_dictionary_incremental">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QComboBox" name="comboBox_dictionary_strategy">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLANN Linear</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLANN KdTree </string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLANN LSH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Brute Force</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Brute Force GPU</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>NanoFLANN KdTree</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLANN KdTree Single</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kp_parallelized">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="2">
|
|
<widget class="QLabel" name="label_186">
|
|
<property name="text">
|
|
<string>When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).</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="2">
|
|
<widget class="QLabel" name="label_incrementalDict">
|
|
<property name="text">
|
|
<string>Use an incremental vocabulary.
|
|
When set to false, no new words are added to dictionary, so no more updates are required after each detection, which greatly increases time performance at the cost of lower adaptation to new environments.</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="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_nndrRatio">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.700000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_rebalancingFactor">
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>2.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kp_byteToFloat">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="2">
|
|
<widget class="QLabel" name="label_556">
|
|
<property name="text">
|
|
<string>For FLANN KdTree, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_dictionaryPath"/>
|
|
</item>
|
|
<item row="3" column="2">
|
|
<widget class="QLabel" name="label_dictionaryPath">
|
|
<property name="text">
|
|
<string>Path to a pre-computed dictionary (when "Use an incremental vocabulary" is not set).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kp_incrementalFlann">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="2">
|
|
<widget class="QLabel" name="label_766">
|
|
<property name="text">
|
|
<string>On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.</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="2">
|
|
<widget class="QLabel" name="label_94">
|
|
<property name="text">
|
|
<string>If the dictionary update and signature creation were parallelized.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_12">
|
|
<property name="text">
|
|
<string>Nearest neighbor strategy.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="2">
|
|
<widget class="QLabel" name="label_767">
|
|
<property name="text">
|
|
<string>Save FLANN index during localization session (when Mem/IncrementalMemory=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kp_flannIndexSaved">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kp_serializeWithChecksum">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QSpinBox" name="spinBox_kp_flannThreads">
|
|
<property name="specialValueText">
|
|
<string>Auto</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>128</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="2">
|
|
<widget class="QLabel" name="label_kp_flannThreads">
|
|
<property name="text">
|
|
<string>Number of threads used for FLANN kNN search of the batched queries (Auto=one per core, 1=single-threaded search).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_15">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_24">
|
|
<layout class="QVBoxLayout" name="verticalLayout_33">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_database2">
|
|
<property name="title">
|
|
<string>Database</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_77">
|
|
<property name="text">
|
|
<string>Sqlite3 journal mode,
|
|
see Sqlite3 doc 'PRAGMA journal_mode'.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_75">
|
|
<property name="text">
|
|
<string>Sqlite3 cache size,
|
|
see Sqlite3 doc 'PRAGMA cache_size'.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_610">
|
|
<property name="text">
|
|
<string>Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., "0.19" vs "0.20" or "1.0" vs "2.0"). Patch version is ignored (e.g., "0.20.1" and "0.20.3" will generate a "0.20" database).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_keepBinaryData">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_74">
|
|
<property name="text">
|
|
<string>Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_89">
|
|
<property name="text">
|
|
<string>Sqlite3 synchronous,
|
|
see Sqlite3 doc 'PRAGMA synchronous'.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="general_checkBox_keepNotLinkedNodes">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QSpinBox" name="spinBox_dbCacheSize">
|
|
<property name="minimum">
|
|
<number>10</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>100</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2000</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QComboBox" name="comboBox_dbSynchronous">
|
|
<property name="currentIndex">
|
|
<number>2</number>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>OFF</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>NORMAL</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FULL</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QComboBox" name="comboBox_dbTempStore">
|
|
<item>
|
|
<property name="text">
|
|
<string>DEFAULT</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FILE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>MEMORY</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_760">
|
|
<property name="text">
|
|
<string>Depth image compression format (should be ".png" or ".rvl").</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="QLabel" name="label_keepRehearsed">
|
|
<property name="text">
|
|
<string>Keep not linked nodes in db (rehearsed nodes and deleted nodes are saved).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_targetDatabaseVersion">
|
|
<property name="placeholderText">
|
|
<string>major.minor</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_299">
|
|
<property name="text">
|
|
<string>RGB image compression format (should be ".jpg" or ".png").</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_keepRawData">
|
|
<property name="text">
|
|
<string>Keep sensor compressed data.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QComboBox" name="comboBox_dbJournalMode">
|
|
<item>
|
|
<property name="text">
|
|
<string>DELETE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>TRUNCATE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>PERSIST</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>MEMORY</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>OFF</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_120">
|
|
<property name="text">
|
|
<string>Sqlite3 temp store,
|
|
see Sqlite3 doc 'PRAGMA temp_store'.</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="0">
|
|
<widget class="QLineEdit" name="lineEdit_rgbCompressionFormat"/>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_depthCompressionFormat"/>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_dbInMemory">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_787">
|
|
<property name="text">
|
|
<string>In localization mode, open the database in read-only mode (ignored in SLAM mode). Currrenty incompatible with memory management (i.e., Time and/or Memory thresholds cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless RGBD/StartAtOrigin is used or an external initial pose is provided on initialization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_dbReadOnly">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_12">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_23">
|
|
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_bayes1">
|
|
<property name="title">
|
|
<string>Loop Closure Detection</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_22" stretch="0,0,0,1,0,0,0">
|
|
<item>
|
|
<widget class="QLabel" name="label">
|
|
<property name="text">
|
|
<string>Prediction probabilities for each loop closure event:</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_76">
|
|
<property name="text">
|
|
<string>We can edit how will like the prediction used in the Bayes filter when there is a loop closure hypothesis. Format is [VP LC N1 N2 N3...]. LC is the loop closure event and N# are its neighbors. VP (virtual place) is the probability to be in a new place when a loop closure was found on the last iteration.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_24">
|
|
<item row="0" column="0">
|
|
<widget class="QLabel" name="label_65">
|
|
<property name="text">
|
|
<string>Prediction</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QLabel" name="label_66">
|
|
<property name="text">
|
|
<string>Sum</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_prediction_sum">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_bayes_predictionLC">
|
|
<property name="readOnly">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_6" stretch="0,1">
|
|
<item>
|
|
<widget class="QLabel" name="label_63">
|
|
<property name="text">
|
|
<string>Preview</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="UPlot" name="predictionPlot" native="true"/>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_22" columnstretch="0,1">
|
|
<item row="4" column="0">
|
|
<widget class="QCheckBox" name="checkBox_rtabmap_loopGPS">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QComboBox" name="comboBox_globalDescriptorExtractor">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Disabled</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>PyDescriptor</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_142">
|
|
<property name="text">
|
|
<string>Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_502">
|
|
<property name="text">
|
|
<string>Use GPS to filter likelihood (if GPS is recorded). Only locations inside the Local Radius (see RGBD-SLAM panel) of the current GPS location are considered for loop closure detection.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_bayes_fullPredictionUpdate">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_bayes_sparsePrediction">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_bayes_sparsePrediction">
|
|
<property name="text">
|
|
<string>Sparse prediction. Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values above sum to less than 1, as the prediction is then not sparse.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_vp">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.900000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_113">
|
|
<property name="text">
|
|
<string>The VP here is the probability to be in a new place since no loop closure was found on the last iteration.</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="QLabel" name="label_82">
|
|
<property name="text">
|
|
<string>Use the tf-idf method to compute the likelihood. Otherwise, images are compared with each other.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_6031">
|
|
<property name="text">
|
|
<string>Global descriptor extractor.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_757">
|
|
<property name="text">
|
|
<string>Likelihood ratio for VP.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QComboBox" name="comboBox_virtualPlaceLikelihoodRatio">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Mean / StdDev</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>StdDev / (Max-Mean)</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_vh_epipolar2">
|
|
<property name="title">
|
|
<string>Hypothesis Verification</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout" columnstretch="0,10">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="surf_spinBox_matchCountMinAccepted">
|
|
<property name="minimum">
|
|
<number>8</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>100000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>11</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_25">
|
|
<property name="text">
|
|
<string>Minimum match count to accept a loop closure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ransacParam1">
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>3.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_27">
|
|
<property name="text">
|
|
<string>Fundamental Matrix : Distance (pixels) for inliers.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ransacParam2">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>0.990000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.990000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_28">
|
|
<property name="text">
|
|
<string>Fundamental Matrix : Ransac performance.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_pydescriptor">
|
|
<property name="title">
|
|
<string>PyDescriptor</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_1521">
|
|
<item>
|
|
<widget class="QLabel" name="label_6041">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Python wrapper for python descriptor like <a href="https://github.com/uzh-rpg/netvlad_tf_open"><span style=" text-decoration: underline; color:#0000ff;">NetVLAD</span></a>. Download the interface <a href="https://github.com/introlab/rtabmap/tree/master/corelib/src/pydescriptor"><span style=" text-decoration: underline; color:#0000ff;">script</span></a> and copy it in the python folder of NetVLAD, then set its path below.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_1181" columnstretch="0,0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_pydescriptor_path">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QSpinBox" name="pydescriptor_dim">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>4096</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_pydescriptor_path"/>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_607">
|
|
<property name="text">
|
|
<string>[Required] Path to rtabmap python script.</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="2">
|
|
<widget class="QLabel" name="label_6061">
|
|
<property name="text">
|
|
<string>Descriptor dimension.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_881">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_23">
|
|
<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 class="QWidget" name="page_10">
|
|
<layout class="QVBoxLayout" name="verticalLayout_19">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_slam1">
|
|
<property name="title">
|
|
<string>RGB-D SLAM</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_25">
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_4" stretch="0,1">
|
|
<item>
|
|
<widget class="QCheckBox" name="general_checkBox_activateRGBD">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_activateRGBD">
|
|
<property name="text">
|
|
<string>Activate metric RGB-D SLAM. This module enables 6d metric SLAM directly in RTAB-Map.
|
|
If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_83">
|
|
<property name="text">
|
|
<string>Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to graph and the graph optimizer optimizes the graph.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_slam_update">
|
|
<property name="title">
|
|
<string>Map Update</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1">
|
|
<item row="18" column="1">
|
|
<widget class="QLabel" name="label_space2_12">
|
|
<property name="text">
|
|
<string>Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_17">
|
|
<property name="text">
|
|
<string>Force odometry poses to be 3DoF if Motion Estimation is 3DoF.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_bunlde">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_12">
|
|
<property name="text">
|
|
<string>Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_invertedReg">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="21" column="1">
|
|
<widget class="QLabel" name="label_space2_19">
|
|
<property name="text">
|
|
<string>Localization prior error. Used only in localization mode. The corresponding variance (error x error) set to priors of the map's poses during localization. Set to 0 to only fix the first map's pose linked in odometry cache (i.e., other map's poses will be allowed to move during the optimization).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="20" column="1">
|
|
<widget class="QLabel" name="label_space2_18">
|
|
<property name="text">
|
|
<string>Localization smoothing. Used only in localization mode. Adjust localization constraints based on optimized odometry cache poses.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_163">
|
|
<property name="text">
|
|
<string>Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_scanMatching">
|
|
<property name="text">
|
|
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link (odometry) with the previous node is refined using ICP registration approach (laser scans required).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
|
|
<property name="suffix">
|
|
<string> m/s</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_14">
|
|
<property name="text">
|
|
<string>Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used (assuming that registration strategy can deal with transformation estimation without guess).</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="QLabel" name="label_433">
|
|
<property name="text">
|
|
<string>Maximum angular speed to update the map (0 means not limit).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
|
|
<property name="suffix">
|
|
<string> rad</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>3.140000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_16">
|
|
<property name="text">
|
|
<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
|
|
<property name="suffix">
|
|
<string> rad/s</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>3.140000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="odomScanHistory">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="1">
|
|
<widget class="QLabel" name="label_space2">
|
|
<property name="text">
|
|
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="0">
|
|
<widget class="QDoubleSpinBox" name="localDetection_radius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_7">
|
|
<property name="text">
|
|
<string>Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if "Optimizer/GravitySigma" is not zero.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QCheckBox" name="memCovOffDiagIgnored">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_5">
|
|
<property name="text">
|
|
<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_2">
|
|
<property name="text">
|
|
<string>If true, rtabmap will assume the robot is restarting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QCheckBox" name="rgbd_forceOdom3DoF">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_reextract">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_153">
|
|
<property name="text">
|
|
<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. To update the map when not moving, both linear and angular update parameters should be 0.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="19" column="0">
|
|
<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_11">
|
|
<property name="text">
|
|
<string>Ignore off diagonal values of the odometry covariance matrix.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="19" column="1">
|
|
<widget class="QLabel" name="label_space2_5">
|
|
<property name="text">
|
|
<string>Maximum odometry cache size. Used only in localization mode. This is used to get smoother localizations and to verify localization transforms (when maximum graph error is not null) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_identityGuess">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="20" column="0">
|
|
<widget class="QCheckBox" name="checkbox_localizationSmoothing">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="18" column="0">
|
|
<widget class="QDoubleSpinBox" name="maxLocalizationDistance">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_9">
|
|
<property name="text">
|
|
<string>Re-extract visual features when computing loop closure transformations. Raw features are not saved in database.</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="QLabel" name="label_152">
|
|
<property name="text">
|
|
<string>Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. To update the map when not moving, both linear and angular update parameters should be 0.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="odomGravity">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_10">
|
|
<property name="text">
|
|
<string>Do local bundle adjustment with neighborhood of the loop closure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="0">
|
|
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QCheckBox" name="rgbd_loopCovLimited">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_3">
|
|
<property name="text">
|
|
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_432">
|
|
<property name="text">
|
|
<string>Maximum linear speed to update the map (0 means not limit). </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="21" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_localizationPriorError">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<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>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="22" column="1">
|
|
<widget class="QLabel" name="label_space2_21">
|
|
<property name="text">
|
|
<string>When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache. If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="22" column="0">
|
|
<widget class="QCheckBox" name="checkbox_localizationSecondTryWithoutProximityLinks">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_11">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_28">
|
|
<layout class="QVBoxLayout" name="verticalLayout_95">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_proximityDetection2">
|
|
<property name="title">
|
|
<string>Proximity Detection</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_96">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_localDetection_time">
|
|
<property name="title">
|
|
<string>Proximity Detection in Time</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_21">
|
|
<item>
|
|
<widget class="QLabel" name="label_54">
|
|
<property name="text">
|
|
<string>Activate proximity detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. This generates more constraints in the map's graph, so more time is required to optimize the graph.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_localDetection_space">
|
|
<property name="title">
|
|
<string>Proximity Detection in Space</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_48">
|
|
<item>
|
|
<widget class="QLabel" name="label_space1_2">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Activate proximity detection over nodes (in Working Memory) near in space. The new nodes are compared to those inside the local radius of the current estimated position of the robot. There are 2 steps: </p><p>1) do a <span style=" font-weight:600;">one-to-one</span> proximity detection, meaning the current node is compared to closest node on each close path based current localization,</p><p>2) then if the laser scans are used, a <span style=" font-weight:600;">one-to-many</span> detection is done by comparing the current laser scan to a point cloud assembled with laser scans for each close path. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_space3_4">
|
|
<property name="text">
|
|
<string>Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_13">
|
|
<property name="text">
|
|
<string>Use odometry as motion guess for one-to-one proximity detection.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="localDetection_maxDiffID">
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="localDetection_angle">
|
|
<property name="suffix">
|
|
<string> deg</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>360.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_localSpaceOdomGuess">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_space3_3">
|
|
<property name="text">
|
|
<string>Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_space3_2">
|
|
<property name="text">
|
|
<string>Maximum graph depth between the current/last loop closure location and the proximity hypotheses. Set 0 to ignore.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="localDetection_maxPaths">
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_4">
|
|
<property name="text">
|
|
<string>When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_space3_8">
|
|
<property name="text">
|
|
<string>Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="localDetection_maxNeighbors">
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_6">
|
|
<property name="text">
|
|
<string>Save scan matching IDs from one-to-many proximity detection in link's user data.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_8">
|
|
<property name="text">
|
|
<string>Maximum angle (degrees) for one-to-one proximity detection.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="checkBox_localSpaceScanMatchingIDsSaved">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_scanMatching_15">
|
|
<property name="text">
|
|
<string>Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode, otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QCheckBox" name="checkBox_localSpaceCreateGlobalScanMap">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_space3_9">
|
|
<property name="text">
|
|
<string>Covariance factor for one-to-many proximity detection (when Maximum neighbor nodes>0 and scans are used).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="localDetection_mergedScanCovFactor">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_49">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>1396</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_19">
|
|
<layout class="QVBoxLayout" name="verticalLayout_26">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_graphOptimization2">
|
|
<property name="title">
|
|
<string>Graph Optimization</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_81" columnstretch="0,1">
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="graphOptimization_maxError">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="Line" name="line">
|
|
<property name="orientation">
|
|
<enum>Qt::Horizontal</enum>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_521">
|
|
<property name="text">
|
|
<string>Ignore landmarks.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_527">
|
|
<property name="text">
|
|
<string>Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="graphOptimization_priorsIgnored">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_151">
|
|
<property name="text">
|
|
<string>Optimize graph from the newest node.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_259">
|
|
<property name="text">
|
|
<string>Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with robust graph optimization, the disabled loop closure links will be removed.</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="0">
|
|
<widget class="QDoubleSpinBox" name="graphOptimization_gravitySigma">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_45">
|
|
<property name="text">
|
|
<string>Graph optimization algorithm. See Optimizer panel.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_211">
|
|
<property name="text">
|
|
<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_431">
|
|
<property name="text">
|
|
<string>Ignore pose priors.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="graphOptimization_type">
|
|
<item>
|
|
<property name="text">
|
|
<string>TORO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>g2o</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GTSAM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Ceres</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="graphOptimization_landmarksIgnored">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_258">
|
|
<property name="text">
|
|
<string>Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="graphOptimization_robust">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0" rowspan="2">
|
|
<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_183">
|
|
<property name="text">
|
|
<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</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="QLabel" name="label_795">
|
|
<property name="text">
|
|
<string>Repairing graph radius. If two consecutive loop closures are rejected by the optimization error ratio on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="graphOptimization_maxErrorRepairRadius">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_48">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>17</width>
|
|
<height>2098</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_64">
|
|
<layout class="QVBoxLayout" name="verticalLayout_109">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_occupancy2">
|
|
<property name="title">
|
|
<string>Local Occupancy Grid</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_110">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_75" columnstretch="0,1">
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_326">
|
|
<property name="text">
|
|
<string>Resolution (cell size).</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>4.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_327">
|
|
<property name="text">
|
|
<string>Minimum ground height (0=disabled).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_grid_projMapFrame">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_321">
|
|
<property name="text">
|
|
<string>Noise filtering min neighbors.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QCheckBox" name="checkBox_grid_preVoxelFiltering">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_311">
|
|
<property name="text">
|
|
<string>Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_310">
|
|
<property name="text">
|
|
<string>Maximum ground height (0=disabled). Should be set if Normals Segmentation Approach is checked below.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_320">
|
|
<property name="text">
|
|
<string>Maximum range from the sensor (0 means no limit).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintHeight">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_642">
|
|
<property name="text">
|
|
<string>Sensor from which the local grid is created.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxObstacleHeight">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_365">
|
|
<property name="text">
|
|
<string>Create local occupancy grid maps. This should be enabled to generate a global occupancy grid map. A cloud will be created from the depth image (see option below) or the 3D laser scan. This cloud will be segmented into ground and obstacle cells. For 2D laser scan, the occupancy grid is created using 2D ray casting (only Resolution and 2D Laser Scan related parameters are used).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxGroundHeight">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_309">
|
|
<property name="text">
|
|
<string>Maximum obstacles height (0=disabled).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintLength">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkbox_rgbd_createOccupancyGrid">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minGroundHeight">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-99999.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>-0.050000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintWidth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_334">
|
|
<property name="text">
|
|
<string>Footprint filtering width (0=disabled). Footprint length should be set.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_331">
|
|
<property name="text">
|
|
<string>Laser scan decimation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="comboBox_grid_sensor">
|
|
<item>
|
|
<property name="text">
|
|
<string>LiDAR</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Camera(s)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>LiDAR and Camera(s)</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_325">
|
|
<property name="text">
|
|
<string>Noise filtering radius (0=disabled). Done after segmentation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="spinBox_grid_noiseMinNeighbors">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_323">
|
|
<property name="text">
|
|
<string>Minimum range from the sensor.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_noiseRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_resolution">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_333">
|
|
<property name="text">
|
|
<string>Footprint filtering length (0=disabled).</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="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_335">
|
|
<property name="text">
|
|
<string>Footprint filtering height (0=disabled). Footprint length and width should be set.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_456">
|
|
<property name="text">
|
|
<string>Input cloud is downsampled by voxel filter (voxel size is cell size) before doing segmentation of obstacles and ground.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QSpinBox" name="spinBox_grid_scanDecimation">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>100</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="1">
|
|
<widget class="QLabel" name="label_363">
|
|
<property name="text">
|
|
<string>Ray tracing is done for each obstacle, filling unknown space between the sensor and obstacles. If RTAB-Map is not built with OctoMap, 3D ray tracing cannot be done.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="0">
|
|
<widget class="QCheckBox" name="checkBox_grid_projRayTracing">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_grid_fromDepthImage">
|
|
<property name="title">
|
|
<string>Camera Sensor</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_108">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_76" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_grid_decimation">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>32</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>4</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_322">
|
|
<property name="text">
|
|
<string>Decimation of the depth image before creating cloud.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QLineEdit" name="lineEdit_grid_roi"/>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_324">
|
|
<property name="text">
|
|
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_grid_normalsSegmentation">
|
|
<property name="title">
|
|
<string>Normals Segmentation Approach</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_107">
|
|
<item>
|
|
<widget class="QLabel" name="label_312">
|
|
<property name="text">
|
|
<string>In this approach, the ground of the 3D cloud is segmented using the point normals instead of a passthrough filter.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_74" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxGroundAngle">
|
|
<property name="suffix">
|
|
<string> deg</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>180.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>30.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_grid_minClusterSize">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>20</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_307">
|
|
<property name="text">
|
|
<string>Maximum angle between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.</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="QLabel" name="label_308">
|
|
<property name="text">
|
|
<string>Minimum cluster size to project the points. The distance between clusters is defined by 2*Resolution.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_272">
|
|
<property name="text">
|
|
<string>Flat obstacles detected.</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="0">
|
|
<widget class="QCheckBox" name="checkBox_grid_flatObstaclesDetected">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_grid_normalK">
|
|
<property name="minimum">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>20</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_330">
|
|
<property name="text">
|
|
<string> K neighbors to compute normals.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_336">
|
|
<property name="text">
|
|
<string>Cluster radius.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clusterRadius">
|
|
<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="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_grid_3d">
|
|
<property name="title">
|
|
<string>3D</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_102">
|
|
<item>
|
|
<widget class="QLabel" name="label_octomap_groundObstacle_3">
|
|
<property name="text">
|
|
<string>A 3D occupancy grid is required if you want an OctoMap. Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_octomap_groundObstacle">
|
|
<property name="text">
|
|
<string>Ground segmentation (Normals Segmentation Approach) is ignored, all points are obstacles. Use this only if you want an Octomap with ground identified as an obstacle (e.g., with an UAV).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_grid_groundObstacle">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_9">
|
|
<property name="title">
|
|
<string>2D Laser Scan Ray Tracing</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_111">
|
|
<item>
|
|
<widget class="QLabel" name="label_octomap_groundObstacle_5">
|
|
<property name="text">
|
|
<string>These parameters only affect 2D occupancy grid created from 2D laser scan.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_77" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_grid_unknownSpaceFilled">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_328">
|
|
<property name="text">
|
|
<string>Unknown space filled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_57">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>1177</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_66">
|
|
<layout class="QVBoxLayout" name="verticalLayout_116">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_occupancyGlobal2">
|
|
<property name="title">
|
|
<string>Global Occupancy Grid</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_115">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_88" columnstretch="0,1">
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_616">
|
|
<property name="text">
|
|
<string>Altitude delta. Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).</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="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_457">
|
|
<property name="text">
|
|
<string>Occupancy threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_319">
|
|
<property name="text">
|
|
<string>Footprint radius used to clear all obstacles under the graph.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_grid_maxNodes">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minMapSize">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_483">
|
|
<property name="text">
|
|
<string>Probability of a miss.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_484">
|
|
<property name="text">
|
|
<string>Probability clamping threshold minimum.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clampingMin">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_224">
|
|
<property name="text">
|
|
<string>Erode obstacle cells.</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="QLabel" name="label_366">
|
|
<property name="text">
|
|
<string>Minimum map size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_updateError">
|
|
<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>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_probHit">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_occThr">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QSpinBox" name="spinBox_grid_floodfilldepth">
|
|
<property name="maximum">
|
|
<number>16</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_455">
|
|
<property name="text">
|
|
<string>Maximum nodes assembled in the map starting from the last node (0=unlimited).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_485">
|
|
<property name="text">
|
|
<string>Probability clamping threshold maximum.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_316">
|
|
<property name="text">
|
|
<string>Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clampingMax">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_probMiss">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_altitudeDelta">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QCheckBox" name="checkBox_grid_erode">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_482">
|
|
<property name="text">
|
|
<string>Probability of a hit.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_454">
|
|
<property name="text">
|
|
<string>Graph changed detection error. Update map only if poses in new optimized graph have moved more than this value.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_59">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>2473</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_30">
|
|
<layout class="QVBoxLayout" name="verticalLayout_97">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_pathPlanning2">
|
|
<property name="title">
|
|
<string>Path Planning</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_61">
|
|
<item>
|
|
<widget class="QLabel" name="label_space2_3">
|
|
<property name="text">
|
|
<string> If the goal is too far (>local radius) from the graph, the plan is aborted. The next goal in the graph can't be farther than the local radius around the current position. Anticipated nodes on the path are retrieved in the local radius up to "Maximum local locations retrieved". A virtual link is added between the current location and the nearest one on the path up to local radius.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_51" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="graphPlan_goalReachedRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_space2_2">
|
|
<property name="text">
|
|
<string>Goal reached radius.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_space3_5">
|
|
<property name="text">
|
|
<string>When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="graphPlan_goalsSavedInUserData">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_space2_4">
|
|
<property name="text">
|
|
<string>Mark the current goal node on the path as unreachable if it a new goal is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="graphPlan_stuckIterations">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="graphPlan_linearVelocity">
|
|
<property name="suffix">
|
|
<string> m/s</string>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="graphPlan_angularVelocity">
|
|
<property name="suffix">
|
|
<string> rad/s</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_space3_6">
|
|
<property name="text">
|
|
<string>Linear velocity used to compute path weights based on time instead of distance (0=disabled).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_space3_7">
|
|
<property name="text">
|
|
<string>Angular velocity used to compute path weights based on time instead of distance. Paths with poses in the same direction of the robot will have lower costs (0=disabled).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_50">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>1529</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_78">
|
|
<layout class="QVBoxLayout" name="verticalLayout_137" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_markerDetection2">
|
|
<property name="title">
|
|
<string>Marker Detection</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_136">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="MarkerStrategy">
|
|
<item>
|
|
<property name="text">
|
|
<string>opencv-aruco</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>apriltag</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="MarkerVarianceOrientationIgnored">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="MarkerVarianceLinear">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="MarkerLength">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_space2_15">
|
|
<property name="text">
|
|
<string>World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by a vertical line ("id1 x y z roll pitch yaw|id2 x y z roll pitch yaw"). Example: "1 0 0 1 0 0 0|2 1 0 1 0 0 1.57" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="MarkerRangeMax">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_space2_9">
|
|
<property name="text">
|
|
<string>Angular variance to set on marker detections. If variance is adjusted to ignore orientation (see below), the angular variance is ignored with Optimizer/Strategy=1 (g2o) and it corresponds to bearing variance with Optimizer/Strategy=2 (GTSAM).</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="QLabel" name="label_space2_7">
|
|
<property name="toolTip">
|
|
<string>If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length).
|
|
With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.</string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Marker length. The length (m) of the markers' side. Value &lt;=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). Mouse over this label to see the difference between negative and 0.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_space2_16">
|
|
<property name="text">
|
|
<string>Linear variance to set on marker priors.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="MarkerPriorsVarianceAngular">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QComboBox" name="MarkerDictionary">
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_4X4_50</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_4X4_100</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_4X4_250</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_4X4_1000</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_5X5_50</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_5X5_100</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_5X5_250</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_5X5_1000</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_6X6_50</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_6X6_100</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_6X6_250</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_6X6_1000</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_7X7_50</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_7X7_100</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_7X7_250</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_7X7_1000</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_ORIGINAL</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>APRILTAG_16h5</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>APRILTAG_25h9</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>APRILTAG_36h10</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>APRILTAG_36h11</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ARUCO_MIP_36h12</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_space2_10">
|
|
<property name="text">
|
|
<string>Dictionary to use.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_markerDetection">
|
|
<property name="text">
|
|
<string>Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_space2_6">
|
|
<property name="text">
|
|
<string>Linear variance to set on marker detections. If variance is adjusted to ignore orientation (see below) and Optimizer/Strategy=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QLineEdit" name="MarkerPriors">
|
|
<property name="placeholderText">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_space2_17">
|
|
<property name="text">
|
|
<string>Angular variance to set on marker priors.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_space2_20">
|
|
<property name="toolTip">
|
|
<string>When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for Optimizer/Strategy=1 (g2o), only Marker/VarianceLinear needs be set if we ignore orientation. For Optimizer/Strategy=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with Marker/VarianceLinear as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and Marker/VarianceAngular as the variance of the bearing factor (pitch/yaw).</string>
|
|
</property>
|
|
<property name="text">
|
|
<string>Adjust variance to ignore orientation during optimization. Mouseover for more details.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="MarkerRangeMin">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_space2_13">
|
|
<property name="text">
|
|
<string>Minimum detection range (0=disabled).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_space2_14">
|
|
<property name="text">
|
|
<string>Maximum detection range (0=unlimited).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_space2_8">
|
|
<property name="text">
|
|
<string>Maximum depth error between all corners of a marker when estimating the marker length (when marker length above is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="MarkerMaxDepthError">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="RGBDMarkerDetection">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="MarkerPriorsVarianceLinear">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_space2_24">
|
|
<property name="text">
|
|
<string>Detector implementation. Note that both aruco and apriltag dictionaries may be used with either strategy. Scroll down to see specific parameters for the strategy used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="MarkerVarianceAngular">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QLineEdit" name="MarkerLengths">
|
|
<property name="placeholderText">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_space2_25">
|
|
<property name="toolTip">
|
|
<string>For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set "12 0.08|14 0.15|30:40 0.1"</string>
|
|
</property>
|
|
<property name="text">
|
|
<string>List of markers to detect. Format is the marker's ID followed by its length (in meters), markers are separated by a vertical line ("id1 length|id2 length"). We can also define a range of markers with "id1:id2 length" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on Marker Length. Mouse over this label for example.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_markerStrategy">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_104">
|
|
<layout class="QVBoxLayout" name="verticalLayout_189">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_opencv_aruco">
|
|
<property name="title">
|
|
<string>OpenCV</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_106" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_space2_11">
|
|
<property name="text">
|
|
<string>Corner refinement method.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="OpenCVCornerRefinementMethod">
|
|
<item>
|
|
<property name="text">
|
|
<string>None</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Subpixel</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Contour</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>AprilTag 2</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<spacer name="verticalSpacer_94">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_105">
|
|
<layout class="QVBoxLayout" name="verticalLayout_190">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_apriltag">
|
|
<property name="title">
|
|
<string>AprilTag</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_140" columnstretch="0,1">
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_space2_28">
|
|
<property name="text">
|
|
<string>decode_sharpening: How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_space2_22">
|
|
<property name="text">
|
|
<string>nthreads: How many threads should be used?</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="apriltag_nthreads">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_space2_23">
|
|
<property name="text">
|
|
<string>quad_decimate: Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.</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="QLabel" name="label_space2_27">
|
|
<property name="text">
|
|
<string>refine_edges: When true, the edges of the each quad are adjusted to "snap to" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if quad_decimate = 1.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_space2_26">
|
|
<property name="text">
|
|
<string>quad_sigma: What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_space2_29">
|
|
<property name="text">
|
|
<string>debug: When true, write a variety of debugging images to the working directory where the app started (not RTAB-Map's working directory) at various stages through the detection process. (Somewhat slow).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="apriltag_debug">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="apriltag_refine_edges">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="apriltag_decode_sharpening">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.250000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="apriltag_quad_sigma">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.900000000000006</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="apriltag_quad_decimate">
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>2.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_76">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>2627</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_12">
|
|
<layout class="QVBoxLayout" name="verticalLayout_32" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odometry1">
|
|
<property name="title">
|
|
<string>Odometry</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_34" stretch="0,0,0,0">
|
|
<item>
|
|
<widget class="QLabel" name="label_114">
|
|
<property name="text">
|
|
<string>Odometry is computed as fast as possible up to "Source->Input rate" parameter. Odometry is not computed if already provided by the source.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_238">
|
|
<property name="text">
|
|
<string>If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_232">
|
|
<property name="text">
|
|
<string>Data buffer size (0 means inf).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QComboBox" name="odom_filteringStrategy">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>No filtering</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Kalman filtering</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Particle filtering</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_198">
|
|
<property name="text">
|
|
<string>Guess based on previous motion.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="odom_strategy">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Frame to Map</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Frame to Frame</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Fovis</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Viso2</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>DVO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ORB SLAM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>OKVIS</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>LOAM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>MSCKF_VIO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>VINS-Fusion</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>OpenVINS</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLOAM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Open3D</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>CuVSLAM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>LIO-SAM</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_47">
|
|
<property name="text">
|
|
<string>Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_flow_keyframeThr">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="odom_fillInfoData">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QSpinBox" name="odom_VisKeyFrameThr">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>100</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_246">
|
|
<property name="text">
|
|
<string>[Geometry] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_248">
|
|
<property name="text">
|
|
<string>Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If Visual Registration -> Visual Feature -> Depth as Mask is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.</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="QLabel" name="label_351">
|
|
<property name="text">
|
|
<string>Registration approach. Default means the same registration approach used in Motion Estimation panel (same used by the loop closure detector).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="odom_flow_guessMotion">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="odom_registration">
|
|
<property name="currentIndex">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Visual</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Geometry (ICP)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Visual + Geometry</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>[Default]</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="6" 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>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_233">
|
|
<property name="text">
|
|
<string>Pose estimation filtering strategy.</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="0">
|
|
<widget class="QCheckBox" name="odom_holonomic">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QPushButton" name="pushButton_testOdometry">
|
|
<property name="text">
|
|
<string>Test odometry</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_314">
|
|
<property name="text">
|
|
<string>Align odometry with ground on initialization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QSpinBox" name="odom_dataBufferSize">
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_196">
|
|
<property name="text">
|
|
<string>[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="odom_imageDecimation">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>32</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_guess_smoothing_delay">
|
|
<property name="suffix">
|
|
<string> s</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_flow_scanKeyframeThr">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_520">
|
|
<property name="text">
|
|
<string>Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if a filtering strategy is set or the delay is below the odometry rate.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_103">
|
|
<property name="text">
|
|
<string>Odometry strategy.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="odom_alignWithGround">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="odom_countdown">
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_354">
|
|
<property name="text">
|
|
<string>[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_7461">
|
|
<property name="text">
|
|
<string>Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="odom_lidar_deskewing">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_odometryType">
|
|
<property name="currentIndex">
|
|
<number>10</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_52">
|
|
<layout class="QVBoxLayout" name="verticalLayout_77">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomF2M">
|
|
<property name="title">
|
|
<string>Frame to Map</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_54">
|
|
<item>
|
|
<widget class="QLabel" name="label_226">
|
|
<property name="text">
|
|
<string>The approach maintains a local map of features to match to. It adds incrementally new points to local map up to maximum map size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,1">
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_430">
|
|
<property name="text">
|
|
<string>[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when Radius above is >0). 0 means any angle.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_215">
|
|
<property name="text">
|
|
<string>[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the laser scans.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_357">
|
|
<property name="text">
|
|
<string>[Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_358">
|
|
<property name="text">
|
|
<string>[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="odom_localHistory">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_762">
|
|
<property name="text">
|
|
<string>[Visual] Maximum keyframes per feature for bundle adjustment. 0 means not limit.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QCheckBox" name="odom_f2m_bundleUpdateFeatureMapOnAllFrames">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_761">
|
|
<property name="text">
|
|
<string>[Visual] To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_odom_f2m_scanMaxSize">
|
|
<property name="maximum">
|
|
<number>999999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_190">
|
|
<property name="text">
|
|
<string>[Visual] Maximum map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum features. This will decrease odometry drifting when the camera is not moving.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanAngle">
|
|
<property name="suffix">
|
|
<string> deg</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>180.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_564">
|
|
<property name="text">
|
|
<string>[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_f2m_gravitySigma">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>-1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_f2m_bundleMinMotion">
|
|
<property name="suffix">
|
|
<string> pixels</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_floorThreshold">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_598">
|
|
<property name="text">
|
|
<string>[Visual] Gravity sigma used for bundle adjustment (<0, use same value than Optimizer/GravitySigma parameter)</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_765">
|
|
<property name="text">
|
|
<string>[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_524">
|
|
<property name="text">
|
|
<string>[Visual] If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.</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="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.025000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_194">
|
|
<property name="text">
|
|
<string>[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_f2m_validDepthRatio">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.750000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_7641">
|
|
<property name="text">
|
|
<string>[Visual] Floor threshold. Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QSpinBox" name="odom_f2m_bundleMaxKeyFramesPerFeature">
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_odom_f2m_maxNewFeatures">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRange">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_7631">
|
|
<property name="text">
|
|
<string>[Visual] Update 3D local feature map on every frames with bundle adjustment. Recommended if Vis/DepthAsMask=false and Mem/UseOdomFeatures=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QComboBox" name="odom_f2m_bundleStrategy">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Disabled</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>g2o</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>cvsba</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Ceres</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_195">
|
|
<property name="text">
|
|
<string>[Geometry] Maximum local scan map size (points).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_f2m_initDepthFactor">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_45">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_58">
|
|
<layout class="QVBoxLayout" name="verticalLayout_55">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomF2F">
|
|
<property name="title">
|
|
<string>Frame to Frame</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_53">
|
|
<item>
|
|
<widget class="QLabel" name="label_199">
|
|
<property name="text">
|
|
<string>Motion is computed with a frame to key-frame approach. See Motion Estimation panel for registration parameters.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_12" stretch="0,1">
|
|
<item>
|
|
<widget class="QComboBox" name="comboBox_odomf2f_corType">
|
|
<property name="sizePolicy">
|
|
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
|
<horstretch>0</horstretch>
|
|
<verstretch>0</verstretch>
|
|
</sizepolicy>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Features Matching</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Optical Flow</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_149">
|
|
<property name="text">
|
|
<string>[Visual] Correspondences computation approach.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomf2f_corType">
|
|
<property name="title">
|
|
<string>[Visual] Correspondences computation: Optical Flow</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="odom_flow_winSize">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_201">
|
|
<property name="text">
|
|
<string>Window size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="odom_flow_iterations">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>30</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_295">
|
|
<property name="text">
|
|
<string>Iterations.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_flow_eps">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_296">
|
|
<property name="text">
|
|
<string>Epsilon.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="odom_flow_maxLevel">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_297">
|
|
<property name="text">
|
|
<string>Max level.</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="0">
|
|
<widget class="QCheckBox" name="odom_flow_useMinEigenVals">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_792">
|
|
<property name="text">
|
|
<string>Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_flow_minEigThreshold">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_791">
|
|
<property name="text">
|
|
<string>[Eigen error measure] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_flow_errorThreshold">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>50.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_793">
|
|
<property name="text">
|
|
<string>[L1 error measure] Filter out features with error greater than this threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="odom_flow_gpu">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_odom_flow_gpu">
|
|
<property name="text">
|
|
<string>Use GPU. OpenCV built with CUDA required. Note that the error measure parameter is not used with the GPU implementation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_43">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_67">
|
|
<layout class="QVBoxLayout" name="verticalLayout_119">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomFovis">
|
|
<property name="title">
|
|
<string>Fovis</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_118">
|
|
<item>
|
|
<widget class="QLabel" name="label_234">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Fast Odometry from VISion: <a href="https://github.com/srv/libfovis"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/srv/libfovis</span></a></p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_23">
|
|
<property name="title">
|
|
<string>Motion Estimator</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_90" columnstretch="0,1">
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisFeatureSearchWindow">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>25</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisMinFeaturesForEstimate">
|
|
<property name="minimum">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>10</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_371">
|
|
<property name="text">
|
|
<string>The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_377">
|
|
<property name="text">
|
|
<string>Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomFovisUpdateTargetFeaturesWithRefined">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_374">
|
|
<property name="text">
|
|
<string>Minimum number of features in the inlier set for the motion estimate to be considered valid.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomFovisInlierMaxReprojectionError">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.900000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomFovisUseSubpixelRefinement">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_375">
|
|
<property name="text">
|
|
<string>Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomFovisCliqueInlierThreshold">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.990000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomFovisMaxMeanReprojectionError">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_250">
|
|
<property name="text">
|
|
<string>See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_376">
|
|
<property name="text">
|
|
<string>Specifies whether or not to refine feature matches to subpixel resolution.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_379">
|
|
<property name="text">
|
|
<string>When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_24">
|
|
<property name="title">
|
|
<string>Features</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_38" columnstretch="0,1">
|
|
<item row="4" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisFastThreshold">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>20</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomFovisUseAdaptiveThreshold">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomFovisFastThresholdAdaptiveGain">
|
|
<property name="suffix">
|
|
<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="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.005000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_382">
|
|
<property name="text">
|
|
<string>FAST threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisMinPyramidLevel">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisMaxPyramidLevel">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_373">
|
|
<property name="text">
|
|
<string>The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisTargetPixelsPerFeature">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>250</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_381">
|
|
<property name="text">
|
|
<string>The minimum pyramid level.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisFeatureWindowSize">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>9</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_372">
|
|
<property name="text">
|
|
<string>The size of the n x n image patch surrounding each feature, used for keypoint matching.</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="QLabel" name="label_378">
|
|
<property name="text">
|
|
<string>Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomFovisUseHomographyInitialization">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_383">
|
|
<property name="text">
|
|
<string>Use FAST adaptive threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_400">
|
|
<property name="text">
|
|
<string>FAST threshold adaptive gain.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_401">
|
|
<property name="text">
|
|
<string>Use homography initialization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_60">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_25">
|
|
<property name="title">
|
|
<string>Bucket</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_91" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomFovisUseBucketing">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_402">
|
|
<property name="text">
|
|
<string>Use bucketing.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisBucketHeight">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>80</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisMaxKeypointsPerBucket">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>25</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisBucketWidth">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>80</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomFovisUseImageNormalization">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_403">
|
|
<property name="text">
|
|
<string>Bucket width.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_404">
|
|
<property name="text">
|
|
<string>Bucket height.</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="QLabel" name="label_405">
|
|
<property name="text">
|
|
<string>Max Keypoints per bucket.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_406">
|
|
<property name="text">
|
|
<string>Use image normalization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_26">
|
|
<property name="title">
|
|
<string>Stereo</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_92" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomFovisStereoMaxDistEpipolarLine">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.900000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomFovisStereoMaxRefinementDisplacement">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.900000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomFovisStereoRequireMutualMatch">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_407">
|
|
<property name="text">
|
|
<string>Require mutual match.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomFovisStereoMaxDisparity">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>128</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_408">
|
|
<property name="text">
|
|
<string>Maximum distance to epipolar line.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_409">
|
|
<property name="text">
|
|
<string>Max refinement displacement.</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="QLabel" name="label_410">
|
|
<property name="text">
|
|
<string>Max disparity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_68">
|
|
<layout class="QVBoxLayout" name="verticalLayout_121">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomViso2">
|
|
<property name="title">
|
|
<string>Viso2</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_120">
|
|
<item>
|
|
<widget class="QLabel" name="label_380">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Library for Visual Odometry 2: <a href="http://www.cvlibs.net/software/libviso/"><span style=" text-decoration: underline; color:#0000ff;">http://www.cvlibs.net/software/libviso</span></a></p><p><span style=" font-weight:600;">Only stereo is supported.</span><br/></p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_86" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_386">
|
|
<property name="text">
|
|
<string>Fundamental matrix inlier threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_384">
|
|
<property name="text">
|
|
<string>Lower border weights (more robust to calibration errors).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_385">
|
|
<property name="text">
|
|
<string>Number of RANSAC iterations.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2RansacIters">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>10</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>200</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomViso2InlierThreshold">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.900000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>2.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomViso2Reweighting">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox">
|
|
<property name="title">
|
|
<string>Match</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_87" columnstretch="0,1">
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_389">
|
|
<property name="text">
|
|
<string>Matching bin width/height (affects efficiency only).</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="QLabel" name="label_388">
|
|
<property name="text">
|
|
<string>Non-max-suppression: interest point peakiness threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_391">
|
|
<property name="text">
|
|
<string>Disparity tolerance for stereo matches (in pixels).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2MatchNmsN">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_387">
|
|
<property name="text">
|
|
<string>Non-max-suppression: min. distance between maxima (in pixels).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_392">
|
|
<property name="text">
|
|
<string>Outlier removal: disparity tolerance (in pixels).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_395">
|
|
<property name="text">
|
|
<string>Match at half resolution, refine at full resolution.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_394">
|
|
<property name="text">
|
|
<string>Multistage matching (denser and faster).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_393">
|
|
<property name="text">
|
|
<string>Outlier removal: flow tolerance (in pixels).</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="QLabel" name="label_390">
|
|
<property name="text">
|
|
<string>Matching radius (du/dv in pixels).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_396">
|
|
<property name="text">
|
|
<string>Refinement (0=none,1=pixel,2=subpixel).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2MatchNmsTau">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2MatchBinsize">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2MatchRadius">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>10</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>200</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2MatchDispTolerance">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2MatchOutlierDispTolerance">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2MatchOutlierFlowTolerance">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2MatchRefinement">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomViso2MatchMultiStage">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomViso2MatchHalfResolution">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_22">
|
|
<property name="title">
|
|
<string>Bucket</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_89" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_398">
|
|
<property name="text">
|
|
<string>Width of bucket.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_397">
|
|
<property name="text">
|
|
<string>Maximal number of features per bucket.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_399">
|
|
<property name="text">
|
|
<string>Height of bucket.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomViso2BucketWidth">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>50.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomViso2BucketHeight">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>50.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomViso2BucketMaxFeatures">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_61">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_69">
|
|
<layout class="QVBoxLayout" name="verticalLayout_122">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomDVO">
|
|
<property name="title">
|
|
<string>DVO</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_123">
|
|
<item>
|
|
<widget class="QLabel" name="label_411">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Dense Visual Odometry: <a href="https://github.com/tum-vision/dvo_slam"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/tum-vision/dvo_slam</span></a></p><p><span style=" font-weight:600;">Only RGB-D is supported.</span><br/></p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_63">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_70">
|
|
<layout class="QVBoxLayout" name="verticalLayout_125">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomORBSLAM">
|
|
<property name="title">
|
|
<string>ORB SLAM</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_124">
|
|
<item>
|
|
<widget class="QLabel" name="label_412">
|
|
<property name="text">
|
|
<string><html><head/><body><p>ORB SLAM2: <a href="https://github.com/raulmur/ORB_SLAM2"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/UZ-SLAMLab/ORB_SLAM3</span></a><br/>ORB SLAM3: <a href="https://github.com/UZ-SLAMLab/ORB_SLAM3"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/raulmur/ORB_SLAM2</span></a></p><p>Tracking and local mapping from ORB SLAM is done but loop closure detection is disabled, using RTAB-Map loop closure detection instead. See ORB panel for ORB parameters (pyramid scale and number of pyramids). See FAST panel for FAST parameters (init and min thresholds). Vis/MaxFeatures (see Visual Registration panel) is used as the number of ORB features extracted.<br/></p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_93" columnstretch="0,0,1">
|
|
<item row="3" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAMFps">
|
|
<property name="enabled">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_413">
|
|
<property name="text">
|
|
<string>Fake IR projector baseline used only when stereo is not used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="2">
|
|
<widget class="QLabel" name="label_449">
|
|
<property name="text">
|
|
<string>Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.</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="2">
|
|
<widget class="QLabel" name="label_445">
|
|
<property name="text">
|
|
<string>Maximum ORB features extracted per frame.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_OdomORBSLAMVocPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_414">
|
|
<property name="text">
|
|
<string>Close/Far threshold. Baseline times.</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="QSpinBox" name="spinBox_OdomORBSLAMMaxFeatures">
|
|
<property name="maximum">
|
|
<number>99999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1000</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_OdomORBSLAMVocPath"/>
|
|
</item>
|
|
<item row="3" column="2">
|
|
<widget class="QLabel" name="label_444">
|
|
<property name="text">
|
|
<string>Camera FPS. This parameter is linked to "Input rate" of the Source panel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_415">
|
|
<property name="text">
|
|
<string>Path to ORB vocabulary (*.txt).</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_OdomORBSLAMBf">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.999900000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.076000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAMThDepth">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>40.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QSpinBox" name="spinBox_OdomORBSLAMMapSize">
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_OdomORBSLAMInertial">
|
|
<property name="title">
|
|
<string>Enable IMU.</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_169">
|
|
<item>
|
|
<widget class="QLabel" name="label_621">
|
|
<property name="text">
|
|
<string>Only supported with ORB_SLAM3. Inter IMU publishing should be enabled (see Source panel under IMU Filtering section).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_129" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMGyroNoise">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_738">
|
|
<property name="text">
|
|
<string>Accelerometer "random walk".</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="QLabel" name="label_657">
|
|
<property name="text">
|
|
<string>Accelerometer "white noise".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_236">
|
|
<property name="text">
|
|
<string>Gyroscope "white noise".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMAccNoise">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_658">
|
|
<property name="text">
|
|
<string>Gyroscope "random walk".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_739">
|
|
<property name="text">
|
|
<string>IMU sampling rate (0 to estimate from input data).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMGyroWalk">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMAccWalk">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMSamplingRate">
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10000.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_47">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_54">
|
|
<layout class="QVBoxLayout" name="verticalLayout_85" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomOKVIS">
|
|
<property name="title">
|
|
<string>OKVIS</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_128" stretch="0,1">
|
|
<item>
|
|
<widget class="QLabel" name="label_466">
|
|
<property name="text">
|
|
<string><html><head/><body><p>OKVIS: <a href="https://github.com/ethz-asl/okvis"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/ethz-asl/okvis</span></a></p><p>IMU input required. Currently tested only with EuRoC data set.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_98" columnstretch="0,0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_OdomOkvisPath"/>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_469">
|
|
<property name="text">
|
|
<string>Path to OKVIS config file (*.yaml). While OKVIS requires calibrations in the config file, they are ignored as those from received images are used instead.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_OdomOkvisPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_69">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_73">
|
|
<layout class="QVBoxLayout" name="verticalLayout_130" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomLOAM">
|
|
<property name="title">
|
|
<string>LOAM - FLOAM</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_129" stretch="0,1">
|
|
<item>
|
|
<widget class="QLabel" name="label_472">
|
|
<property name="text">
|
|
<string><html><head/><body><p>LOAM: <a href="https://github.com/laboshinl/loam_velodyne"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/laboshinl/loam_velodyne</span></a></p><p>Velodyne input required. Currently tested only with KITTI data set.</p><p>FLOAM: <a href="https://github.com/wh200720041/floam"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/wh200720041/floam</span></a></p><p>Other remapped parameters for FLOAM:</p><ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Icp/RangeMax (Max distance: set to 200 if 0)</li><li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Icp/RangeMin (Min distance)</li></ul></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_101" columnstretch="0,1">
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_476">
|
|
<property name="text">
|
|
<string>Angular output variance.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_loam_linvar">
|
|
<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>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_loam_angvar">
|
|
<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>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_474">
|
|
<property name="text">
|
|
<string>Scan period (s).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="odom_loam_localMapping">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_475">
|
|
<property name="text">
|
|
<string>Linear output variance.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_473">
|
|
<property name="text">
|
|
<string>Velodyne sensor.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_loam_scan_period">
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_477">
|
|
<property name="text">
|
|
<string>Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="odom_loam_sensor">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>VLP-16</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HDL-32</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HDL-64E</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_566">
|
|
<property name="text">
|
|
<string>Map resolution.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_loam_resolution">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.200000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_73">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_74">
|
|
<layout class="QVBoxLayout" name="verticalLayout_132">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomMSCKF">
|
|
<property name="title">
|
|
<string>MSCKF_VIO</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_131" stretch="0,0,0">
|
|
<item>
|
|
<widget class="QLabel" name="label_480">
|
|
<property name="text">
|
|
<string><html><head/><body><p>MSCKF_VIO: <a href="https://github.com/KumarRobotics/msckf_vio"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/KumarRobotics/msckf_vio</span></a></p><p>Stereo and IMU inputs required.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_7">
|
|
<property name="title">
|
|
<string>Image processing</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_103" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFGridRow">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_538">
|
|
<property name="text">
|
|
<string>Grid row.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFGridCol">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_537">
|
|
<property name="text">
|
|
<string>Grid col.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFGridMinFeatureNum"/>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_536">
|
|
<property name="text">
|
|
<string>Grid min feature num.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFGridMaxFeatureNum"/>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_535">
|
|
<property name="text">
|
|
<string>Grid max feature num.</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="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFPyramidLevels"/>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_534">
|
|
<property name="text">
|
|
<string>Pyramid levels.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFPatchSize">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_533">
|
|
<property name="text">
|
|
<string>Patch size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFFastThreshold"/>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_532">
|
|
<property name="text">
|
|
<string>Fast threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFMaxIteration"/>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_531">
|
|
<property name="text">
|
|
<string>Max iteration.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFTrackPrecision">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_495">
|
|
<property name="text">
|
|
<string>Tracking precision.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFRansacThreshold">
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_496">
|
|
<property name="text">
|
|
<string>Ransac treshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFStereoThreshold">
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_497">
|
|
<property name="text">
|
|
<string>Stereo threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_28">
|
|
<property name="title">
|
|
<string>Odometry estimation</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_102" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="OdomMSCKFMaxCamStateSize"/>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_539">
|
|
<property name="text">
|
|
<string>Max cam state size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFPositionStdThreshold">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_486">
|
|
<property name="text">
|
|
<string>Position std threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFRotationThreshold">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_487">
|
|
<property name="text">
|
|
<string>Rotation threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFTranslationThreshold">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_488">
|
|
<property name="text">
|
|
<string>Translation threshold.</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="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFTrackingRateThreshold">
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_489">
|
|
<property name="text">
|
|
<string>Tracking rate threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFOptTranslationThreshold">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_490">
|
|
<property name="text">
|
|
<string>Optimization translation threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseGyro">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_491">
|
|
<property name="text">
|
|
<string>Noise gyro.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseAcc">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_492">
|
|
<property name="text">
|
|
<string>Noise acceleration.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseGyroBias">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_493">
|
|
<property name="text">
|
|
<string>Noise gyro bias.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseAccBias">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_494">
|
|
<property name="text">
|
|
<string>Noise acceleration bias.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFNoiseFeature">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_507">
|
|
<property name="text">
|
|
<string>Noise feature.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovVel">
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_508">
|
|
<property name="text">
|
|
<string>Initial covariance velocity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovGyroBias">
|
|
<property name="decimals">
|
|
<number>5</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_509">
|
|
<property name="text">
|
|
<string>Initial covariance gyro bias.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovAccBias">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_510">
|
|
<property name="text">
|
|
<string>Initial covariance acceleration bias.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovExRot">
|
|
<property name="decimals">
|
|
<number>8</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_511">
|
|
<property name="text">
|
|
<string>Initial covariance extrincic rotation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QDoubleSpinBox" name="OdomMSCKFInitCovExTrans">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_513">
|
|
<property name="text">
|
|
<string>Initial covariance extrinsic translation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_74">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_79">
|
|
<layout class="QVBoxLayout" name="verticalLayout_139">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomVINSFusion">
|
|
<property name="title">
|
|
<string>VINS-Fusion</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_138" stretch="0,0">
|
|
<item>
|
|
<widget class="QLabel" name="label_525">
|
|
<property name="text">
|
|
<string><html><head/><body><p>VINS-Fusion: <a href="https://github.com/HKUST-Aerial-Robotics/VINS-Fusion"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/HKUST-Aerial-Robotics/VINS-Fusion</span></a></p><p>IMU input optional depending on the parameters in the config file. Currently tested only with EuRoC data set.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_107" columnstretch="0,0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_OdomVinsFusionPath"/>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_526">
|
|
<property name="text">
|
|
<string>Path to VINS-Fusion config file (*.yaml). While VINS-Fusion requires calibrations in the config file, they are ignored as those from received images are used instead.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_OdomVinsFusionPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_77">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_93">
|
|
<layout class="QVBoxLayout" name="verticalLayout_162">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomOpenVINS">
|
|
<property name="title">
|
|
<string>OpenVINS</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_161">
|
|
<item>
|
|
<widget class="QLabel" name="label_632">
|
|
<property name="text">
|
|
<string><html><head/><body><p>OpenVINS: <a href="https://github.com/rpng/open_vins"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/rpng/open_vins</span></a></p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_19" stretch="0,0,1">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_openvinsConfigPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_openvinsConfigPath"/>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_796">
|
|
<property name="text">
|
|
<string>Configuration file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter below.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_36">
|
|
<property name="title">
|
|
<string>Tracker</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_124" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSUseStereo">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_682">
|
|
<property name="text">
|
|
<string>Stereo mode. If we should process two cameras are being stereo or binocular. If binocular, we do monocular feature tracking on each image. Ignored if provided input data is not stereo.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSUseKLT">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_683">
|
|
<property name="text">
|
|
<string>KLT tracking. Uncheck to use descriptor matcher.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSNumPts">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>200</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_684">
|
|
<property name="text">
|
|
<string>Number of points (per camera) we will extract and try to track.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSMinPxDist">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>15</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_688">
|
|
<property name="text">
|
|
<string>Minimum pixel distance. Will check after doing KLT track and remove any features closer than this.</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="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSFiTriangulate1d">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_689">
|
|
<property name="text">
|
|
<string>If we should perform 1d triangulation instead of 3d.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSFiRefineFeatures">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_732">
|
|
<property name="text">
|
|
<string>If we should perform Levenberg-Marquardt refinement.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSFiMaxRuns">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_733">
|
|
<property name="text">
|
|
<string>Max runs for Levenberg-Marquardt.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSFiMaxBaseline">
|
|
<property name="maximum">
|
|
<double>1000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>40.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_734">
|
|
<property name="text">
|
|
<string>Max baseline ratio to accept triangulated features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSFiMaxCondNumber">
|
|
<property name="maximum">
|
|
<double>99999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1000.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10000.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_735">
|
|
<property name="text">
|
|
<string>Max condition number of linear triangulation matrix accept triangulated features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_37">
|
|
<property name="title">
|
|
<string>State</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_125" columnstretch="0,1" columnminimumwidth="0,0">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSUseFEJ">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_690">
|
|
<property name="text">
|
|
<string>If first-estimate Jacobians should be used (enable for good consistency).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="comboBox_OdomOpenVINSIntegration">
|
|
<property name="currentIndex">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>DISCRETE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RK4</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANALYTICAL</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_691">
|
|
<property name="text">
|
|
<string>Numerical integration methods.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSCalibCamExtrinsics">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_685">
|
|
<property name="text">
|
|
<string>If the transform between camera and IMU should be optimized (R_ItoC, p_CinI).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSCalibCamIntrinsics">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_686">
|
|
<property name="text">
|
|
<string>If camera intrinsics should be optimized (focal, center, distortion).</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="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSCalibCamTimeoffset">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_687">
|
|
<property name="text">
|
|
<string>If timeoffset between camera and IMU should be optimized.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSCalibIMUIntrinsics">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_718">
|
|
<property name="text">
|
|
<string>If imu intrinsics should be calibrated (rotation and skew-scale matrix).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSCalibIMUGSensitivity">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_719">
|
|
<property name="text">
|
|
<string>If gyroscope gravity sensitivity (Tg) should be calibrated.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSMaxClones">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>11</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_692">
|
|
<property name="text">
|
|
<string>Max clone size of sliding window.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSMaxSLAM">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_693">
|
|
<property name="text">
|
|
<string>Max number of estimated SLAM features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSMaxSLAMInUpdate">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>25</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_694">
|
|
<property name="text">
|
|
<string>Max number of SLAM features we allow to be included in a single EKF update.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSMaxMSCKFInUpdate">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_695">
|
|
<property name="text">
|
|
<string>Max number of MSCKF features we will use at a given image timestep.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QComboBox" name="comboBox_OdomOpenVINSFeatRepMSCKF">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>GLOBAL_3D</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GLOBAL_FULL_INVERSE_DEPTH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANCHORED_3D</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANCHORED_FULL_INVERSE_DEPTH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANCHORED_MSCKF_INVERSE_DEPTH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANCHORED_INVERSE_DEPTH_SINGLE</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_696">
|
|
<property name="text">
|
|
<string>What representation our features are in (msckf features).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QComboBox" name="comboBox_OdomOpenVINSFeatRepSLAM">
|
|
<property name="currentIndex">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>GLOBAL_3D</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GLOBAL_FULL_INVERSE_DEPTH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANCHORED_3D</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANCHORED_FULL_INVERSE_DEPTH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANCHORED_MSCKF_INVERSE_DEPTH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANCHORED_INVERSE_DEPTH_SINGLE</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_697">
|
|
<property name="text">
|
|
<string>What representation our features are in (slam features).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSDtSLAMDelay">
|
|
<property name="suffix">
|
|
<string> s</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_698">
|
|
<property name="text">
|
|
<string>Delay before initializing (helps with stability from bad initialization...).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSGravityMag">
|
|
<property name="decimals">
|
|
<number>5</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>9.810000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_699">
|
|
<property name="text">
|
|
<string>Magnitude of gravity in this location.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<layout class="QHBoxLayout" name="horizontalLayout_16" stretch="0,1">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_OdomOpenVINSLeftMaskPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_OdomOpenVINSLeftMaskPath"/>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_736">
|
|
<property name="text">
|
|
<string>Mask for left image (stereo mode) or mono image (RGB-D mode). For RGB-D mode, to use depth as mask, enable that option under Visual Registration panel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="0">
|
|
<layout class="QHBoxLayout" name="horizontalLayout_17" stretch="0,1">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_OdomOpenVINSRightMaskPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_OdomOpenVINSRightMaskPath"/>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="16" column="1">
|
|
<widget class="QLabel" name="label_737">
|
|
<property name="text">
|
|
<string>Mask for right image.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_38">
|
|
<property name="title">
|
|
<string>Initializer</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_126" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitWindowTime">
|
|
<property name="suffix">
|
|
<string> s</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>2.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_700">
|
|
<property name="text">
|
|
<string>Amount of time we will initialize over.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitIMUThresh">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_701">
|
|
<property name="text">
|
|
<string>Variance threshold on our acceleration to be classified as moving.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitMaxDisparity">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_702">
|
|
<property name="text">
|
|
<string>Max disparity to consider the platform stationary (dependent on resolution).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSInitMaxFeatures">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_703">
|
|
<property name="text">
|
|
<string>How many features to track during initialization (saves on computation).</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="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSInitDynUse">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_720">
|
|
<property name="text">
|
|
<string>If we should perform dynamic initialization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSInitDynMLEOptCalib">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_721">
|
|
<property name="text">
|
|
<string>If we should optimize and recover the calibration in our MLE.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSInitDynMLEMaxIter">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_722">
|
|
<property name="text">
|
|
<string>Max number of MLE iterations for dynamic initialization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynMLEMaxTime">
|
|
<property name="suffix">
|
|
<string> s</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_723">
|
|
<property name="text">
|
|
<string>Max time for MLE optimization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSInitDynMLEMaxThreads">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>6</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_724">
|
|
<property name="text">
|
|
<string>Max number of MLE threads for dynamic initialization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QSpinBox" name="spinBox_OdomOpenVINSInitDynNumPose">
|
|
<property name="minimum">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>6</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_725">
|
|
<property name="text">
|
|
<string>Number of poses to use during initialization (max should be cam freq * window).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynMinDeg">
|
|
<property name="suffix">
|
|
<string> deg</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>45.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_726">
|
|
<property name="text">
|
|
<string>Minimum degrees we need to rotate before we try to init (sum of norm).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynInflationOri">
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_727">
|
|
<property name="text">
|
|
<string>Magnitude we will inflate initial covariance of orientation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynInflationVel">
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_728">
|
|
<property name="text">
|
|
<string>Magnitude we will inflate initial covariance of velocity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynInflationBg">
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_729">
|
|
<property name="text">
|
|
<string>Magnitude we will inflate initial covariance of gyroscope bias.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynInflationBa">
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="14" column="1">
|
|
<widget class="QLabel" name="label_730">
|
|
<property name="text">
|
|
<string>Magnitude we will inflate initial covariance of accelerometer bias.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynMinRecCond">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000000000001000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_731">
|
|
<property name="text">
|
|
<string>Minimum reciprocal condition number acceptable for our covariance recovery.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_39">
|
|
<property name="title">
|
|
<string>ZUPT</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_127" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSTryZUPT">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_704">
|
|
<property name="text">
|
|
<string>If we should try to use zero velocity update.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSZUPTChi2Multiplier">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_705">
|
|
<property name="text">
|
|
<string>Chi2 multiplier for zero velocity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSZUPTMaxVelodicy">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_706">
|
|
<property name="text">
|
|
<string>Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSZUPTNoiseMultiplier">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_707">
|
|
<property name="text">
|
|
<string>Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).</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="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSZUPTMaxDisparity">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_708">
|
|
<property name="text">
|
|
<string>Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_OdomOpenVINSZUPTOnlyAtBeginning">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_709">
|
|
<property name="text">
|
|
<string>If we should only use the zupt at the very beginning static initialization phase.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_40">
|
|
<property name="title">
|
|
<string>Noise / Chi2</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_128" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSAccelerometerNoiseDensity">
|
|
<property name="suffix">
|
|
<string> m/s^2/sqrt(Hz)</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_710">
|
|
<property name="text">
|
|
<string>Accel "white noise".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSAccelerometerRandomWalk">
|
|
<property name="suffix">
|
|
<string> m/s^3/sqrt(Hz)</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_711">
|
|
<property name="text">
|
|
<string>Accel bias diffusion.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSGyroscopeNoiseDensity">
|
|
<property name="suffix">
|
|
<string> rad/s/sqrt(Hz)</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_712">
|
|
<property name="text">
|
|
<string>Gyro "white noise".</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSGyroscopeRandomWalk">
|
|
<property name="suffix">
|
|
<string> rad/s^2/sqrt(Hz)</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_713">
|
|
<property name="text">
|
|
<string>Gyro bias diffusion.</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="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSUpMSCKFSigmaPx">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_714">
|
|
<property name="text">
|
|
<string>Pixel noise for MSCKF features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSUpMSCKFChi2Multiplier">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_715">
|
|
<property name="text">
|
|
<string>Chi2 multiplier for MSCKF features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSUpSLAMSigmaPx">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_716">
|
|
<property name="text">
|
|
<string>Pixel noise for SLAM features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSUpSLAMChi2Multiplier">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_717">
|
|
<property name="text">
|
|
<string>Chi2 multiplier for SLAM features.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_89">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_95">
|
|
<layout class="QVBoxLayout" name="verticalLayout_166">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomFLOAM">
|
|
<property name="title">
|
|
<string>Dummy-FLOAM</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_165"/>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_94">
|
|
<layout class="QVBoxLayout" name="verticalLayout_164">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomOpen3D">
|
|
<property name="title">
|
|
<string>Open3D</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_163" stretch="0,0">
|
|
<item>
|
|
<widget class="QLabel" name="label_643">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Open3D: <a href="https://github.com/isl-org/Open3D"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/isl-org/Open3D</span></a></p><p>Working only with RGB-D cameras, preferably with TOF sensors. Note that visual keyframe threshold ratio parameter above is used with this odometry strategy.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_108" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_open3d_max_depth">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>3.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_647">
|
|
<property name="text">
|
|
<string>Method.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="odom_open3d_method">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>PointToPlane</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Intensity</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Hybrid</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_645">
|
|
<property name="text">
|
|
<string>Max depth.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_30">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>984</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_102">
|
|
<layout class="QVBoxLayout" name="verticalLayout_186">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomCuvslam">
|
|
<property name="title">
|
|
<string>CuVSLAM</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_185" stretch="0,0">
|
|
<item>
|
|
<widget class="QLabel" name="label_782">
|
|
<property name="text">
|
|
<string><html><head/><body><p>CuVSLAM: <a href="https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam</span></a></p><p>Working only with stereo cameras with current integration. If Reg/Force3DoF is enabled, planar constraints will be used by CuVSLAM.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_138" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_783">
|
|
<property name="text">
|
|
<string>Multi-camera Mode</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="odom_cuvslam_multicam_mode">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Moderate</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Performance</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Precision</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_92">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>2069</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_103">
|
|
<layout class="QVBoxLayout" name="verticalLayout_187">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomLIOSAM">
|
|
<property name="title">
|
|
<string>LIO-SAM</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_188" stretch="0,0">
|
|
<item>
|
|
<widget class="QLabel" name="label_odom_liosam_info">
|
|
<property name="text">
|
|
<string><html><head/><body><p>LIO-SAM: <a href="https://github.com/TixiaoShan/LIO-SAM"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/TixiaoShan/LIO-SAM</span></a></p><p>Tightly-coupled lidar-inertial odometry via smoothing and mapping. Requires 3D lidar with per-point ring and time fields (kXYZIRT scan format) and an IMU.</p><p>If a config file path is provided, the parameters below are ignored and read from the file instead.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_liosam" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<layout class="QHBoxLayout" name="horizontalLayout_liosam_config">
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_OdomLIOSAMPath">
|
|
<property name="placeholderText">
|
|
<string>Optional: path to LIO-SAM config YAML</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_OdomLIOSAMPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_config">
|
|
<property name="text">
|
|
<string>Config file path (overrides parameters below).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="odom_liosam_sensor">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Velodyne</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Ouster</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Livox</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_sensor">
|
|
<property name="text">
|
|
<string>LiDAR sensor type.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="odom_liosam_nscan">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>256</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>16</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_nscan">
|
|
<property name="text">
|
|
<string>Number of LiDAR channels (16, 32, 64, 128).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="odom_liosam_horizon_scan">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1800</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_horizon_scan">
|
|
<property name="text">
|
|
<string>Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).</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="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_imu_acc_noise">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_imu_acc_noise">
|
|
<property name="text">
|
|
<string>IMU accelerometer white noise.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_imu_gyr_noise">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_imu_gyr_noise">
|
|
<property name="text">
|
|
<string>IMU gyroscope white noise.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_imu_acc_bias_n">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000200000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_imu_acc_bias_n">
|
|
<property name="text">
|
|
<string>IMU accelerometer bias noise.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_imu_gyr_bias_n">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000010000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000030000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_imu_gyr_bias_n">
|
|
<property name="text">
|
|
<string>IMU gyroscope bias noise.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_imu_gravity">
|
|
<property name="decimals">
|
|
<number>5</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>20.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>9.805110000000001</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_imu_gravity">
|
|
<property name="text">
|
|
<string>Gravity magnitude.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_edge_threshold">
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_edge_threshold">
|
|
<property name="text">
|
|
<string>Edge feature curvature threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_surf_threshold">
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_surf_threshold">
|
|
<property name="text">
|
|
<string>Surface feature curvature threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_linvar">
|
|
<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>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_linvar">
|
|
<property name="text">
|
|
<string>Linear output variance.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="odom_liosam_angvar">
|
|
<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>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_odom_liosam_angvar">
|
|
<property name="text">
|
|
<string>Angular output variance.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_93">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_26">
|
|
<layout class="QVBoxLayout" name="verticalLayout_88">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odomMono">
|
|
<property name="title">
|
|
<string>Mono</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_168">
|
|
<item>
|
|
<widget class="QLabel" name="label_672">
|
|
<property name="text">
|
|
<string>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>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<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>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</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>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</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>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</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>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</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>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</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>
|
|
<item>
|
|
<spacer name="verticalSpacer_62">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_odometryFiltering">
|
|
<property name="currentIndex">
|
|
<number>2</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_31">
|
|
<layout class="QVBoxLayout" name="verticalLayout_84"/>
|
|
</widget>
|
|
<widget class="QWidget" name="page_57">
|
|
<layout class="QVBoxLayout" name="verticalLayout_49">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odometryKalmanFilter2">
|
|
<property name="title">
|
|
<string>Kalman Filter</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_171">
|
|
<item>
|
|
<widget class="QLabel" name="label_673">
|
|
<property name="text">
|
|
<string>Parameters for the Kalman filter when used to smooth the odometry trajectory.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_168" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_kalmanMeasurementNoise">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>5</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_kalmanProcessNoise">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>5</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</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="0" column="1">
|
|
<widget class="QLabel" name="label_674">
|
|
<property name="text">
|
|
<string>Process noise.</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="QLabel" name="label_675">
|
|
<property name="text">
|
|
<string>Measurement noise.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_31">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_56">
|
|
<layout class="QVBoxLayout" name="verticalLayout_87">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_odometryParticleFilter2">
|
|
<property name="title">
|
|
<string>Particle Filter</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_170">
|
|
<item>
|
|
<widget class="QLabel" name="label_665">
|
|
<property name="text">
|
|
<string>Parameters for the particle filter when used to smooth the odometry trajectory.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_167" columnstretch="0,1">
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleLambdaT">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>15.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleNoiseR">
|
|
<property name="suffix">
|
|
<string> rad</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="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.005000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleNoiseT">
|
|
<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="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_666">
|
|
<property name="text">
|
|
<string>Noise of translation components (x,y,z).</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="QLabel" name="label_667">
|
|
<property name="text">
|
|
<string>Noise of rotation components (roll, pitch, yaw).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_668">
|
|
<property name="text">
|
|
<string>Lambda of translation components (x,y,z).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_669">
|
|
<property name="text">
|
|
<string>Lambda of rotation components (roll, pitch, yaw).</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="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleLambdaR">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>15.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_670">
|
|
<property name="text">
|
|
<string>Particle size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_particleSize">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>400</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_14">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_46">
|
|
<layout class="QVBoxLayout" name="verticalLayout_81">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_motionEst1">
|
|
<property name="title">
|
|
<string>Motion Estimation</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_53" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_registrationStrategy">
|
|
<item>
|
|
<property name="text">
|
|
<string>Visual</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Geometry (ICP)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Visual + Geometry</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_11">
|
|
<property name="text">
|
|
<string>For the parameters for each registration approach, see the sub panels. Approaches with '+' means that both registrations are done in that order.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_bowForce2D">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_184">
|
|
<property name="text">
|
|
<string>Force 2D transform (3DoF: x,y and yaw).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_370">
|
|
<property name="text">
|
|
<string>Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration. It can be useful if the registration approach used can use a guess to get better matches.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="reg_repeatOnce">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_41">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>1221</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_21">
|
|
<layout class="QVBoxLayout" name="verticalLayout_50" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_visualTransform2">
|
|
<property name="title">
|
|
<string>Visual Registration</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_41" stretch="0,0,0,1,0">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_23" columnstretch="0,1">
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_554">
|
|
<property name="text">
|
|
<string>Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QComboBox" name="loopClosure_bundle">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>Disabled</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>g2o</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>cvsba</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Ceres</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_346">
|
|
<property name="text">
|
|
<string>Refine transformation with bundle adjustment. See Optimizer panel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="visMeanDistance">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_2">
|
|
<property name="text">
|
|
<string>Minimum correspondences to accept the estimated transformation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="visMinDistribution">
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>0.500000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="loopClosure_estimationType">
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>3D to 3D</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>3D to 2D (PnP)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>2D to 2D</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_15">
|
|
<property name="text">
|
|
<string>Maximum RANSAC iterations.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="loopClosure_bowMinInliers">
|
|
<property name="minimum">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>10</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_146">
|
|
<property name="text">
|
|
<string>Motion estimation approach using 3D and/or 2D visual words correspondences.</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="QLabel" name="label_555">
|
|
<property name="text">
|
|
<string>Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. 0 means disabled.</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="0">
|
|
<widget class="QSpinBox" name="loopClosure_bowIterations">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>100</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_4">
|
|
<property name="title">
|
|
<string>Features Matching</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_150">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_30" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="reextract_nn">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLANN Linear</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLANN KdTree</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLANN LSH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Brute Force</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Brute Force GPU</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Brute Force Cross Check</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>PyMatcher</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GMS</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>NanoFLANN KdTree</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FLANN KdTree Single</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_179">
|
|
<property name="text">
|
|
<string>Nearest neighbor strategy. FLANN LSH must be used only with binary feature detector.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="reextract_nndrRatio">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.700000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_181">
|
|
<property name="text">
|
|
<string>NNDR (Nearest Neighbor Distance Ratio)
|
|
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
|
|
Lower the ratio -> higher the precision.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_visCorGuessWinSize">
|
|
<property name="suffix">
|
|
<string> pixels</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>16</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_303">
|
|
<property name="text">
|
|
<string>Matching window size around projected points when a guess transform is provided to find correspondences. 0 means that global matching will be done.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_visCorGuessMatchToProjection">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_448">
|
|
<property name="text">
|
|
<string>Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_44">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_pymatcher">
|
|
<property name="title">
|
|
<string>PyMatcher</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_149">
|
|
<item>
|
|
<widget class="QLabel" name="label_586">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Python wrapper for python matcher like <a href="https://github.com/magicleap/SuperGluePretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperGlue</span></a> or <a href="https://github.com/zjhthu/OANet"><span style=" text-decoration: underline; color:#0000ff;">OANet</span></a>. Download the <a href="https://github.com/introlab/rtabmap/tree/master/corelib/src/python"><span style=" text-decoration: underline; color:#0000ff;">scripts</span></a> and copy them at the root folder of SuperGlue git or in demo folder of OANet respectively, then set its path below. <span style=" font-weight:600;">Important</span>: Only float descriptors are allowed and SuperGlue works only with SuperPoint descriptors! You may have to train a new model for the feature used.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_116" columnstretch="0,0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_pymatcher_path">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_pymatcher_path"/>
|
|
</item>
|
|
<item row="2" column="2">
|
|
<widget class="QLabel" name="label_585">
|
|
<property name="text">
|
|
<string>Match threshold. Used by SuperGlue.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QDoubleSpinBox" name="pymatcher_matchThreshold">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.200000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_584">
|
|
<property name="text">
|
|
<string>Iterations. Used by SuperGlue.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_583">
|
|
<property name="text">
|
|
<string>[Required] Path to rtabmap python script.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QSpinBox" name="pymatcher_iterations">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>20</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="2">
|
|
<widget class="QLabel" name="label_587">
|
|
<property name="text">
|
|
<string>Cuda. Used by SuperGlue.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QCheckBox" name="checkBox_pymatcher_cuda">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_590">
|
|
<property name="text">
|
|
<string>For SuperGlue, set only "indoor" or "outdoor". For OANet, set path to one of the pth file (e.g., "~/OANet/model/gl3d/sift-4000/model_best.pth").</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="QLineEdit" name="lineEdit_pymatcher_model"/>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QToolButton" name="toolButton_pymatcher_model">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_86">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_gms">
|
|
<property name="title">
|
|
<string>GMS</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_151">
|
|
<item>
|
|
<widget class="QLabel" name="label_588">
|
|
<property name="text">
|
|
<string><html><head/><body><p>OpenCV implementation of <a href="https://github.com/JiawangBian/GMS-Feature-Matcher"><span style=" text-decoration: underline; color:#0000ff;">GMS</span></a>. Since GMS works well when the number of features is large, it is recommended to use the ORB feature and set FastThreshold to 0 to get as many as possible features quickly. If matching results are not satisfying, please add more features (they used 10000 for images of size 640 X 480). If your images have big rotation and scale changes, please set withRotation or withScale to true.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_117" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_592">
|
|
<property name="text">
|
|
<string>With rotation. Take rotation transformation into account.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_gms_withRotation">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_589">
|
|
<property name="text">
|
|
<string>Theshold factor. The higher, the less matches.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="gms_thresholdFactor">
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.200000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_593">
|
|
<property name="text">
|
|
<string>With Scale. Take scale transformation into account.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_gms_withScale">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_87">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_loopClosureEstimation">
|
|
<property name="currentIndex">
|
|
<number>1</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_38">
|
|
<layout class="QVBoxLayout" name="verticalLayout_68">
|
|
<property name="spacing">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="leftMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="bottomMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_3">
|
|
<property name="title">
|
|
<string>Motion estimation: 3D to 3D</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_38">
|
|
<property name="text">
|
|
<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="loopClosure_bowRefineIterations">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>10</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_bowInlierDistance">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.020000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_14">
|
|
<property name="text">
|
|
<string>Maximum distance accepted between visual word correspondences.</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">
|
|
<spacer name="verticalSpacer_931">
|
|
<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>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_39">
|
|
<layout class="QVBoxLayout" name="verticalLayout_69">
|
|
<property name="spacing">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="leftMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="bottomMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_13">
|
|
<property name="title">
|
|
<string>Motion Estimation: 3D to 2D (PnP)</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_59" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_655">
|
|
<property name="text">
|
|
<string>Reprojection error.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="loopClosure_pnpFlags">
|
|
<item>
|
|
<property name="text">
|
|
<string>Iterative</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>EPNP</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>P3P</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QComboBox" name="loopClosure_pnpSamplingPolicy">
|
|
<item>
|
|
<property name="text">
|
|
<string>AUTO</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ANY</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HOMOGENEOUS</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_pnpReprojError">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>8.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_235">
|
|
<property name="text">
|
|
<string>Flags.</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="QLabel" name="label_loopClosure_pnpOpenCV2_4">
|
|
<property name="text">
|
|
<string>Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.</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="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_pnpMaxVariance">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_3">
|
|
<property name="text">
|
|
<string>Multi-camera random sampling policy. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_2">
|
|
<property name="text">
|
|
<string>Max linear variance between 3D point correspondences after PnP. 0 means disabled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_656">
|
|
<property name="text">
|
|
<string>Reprojection error.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="loopClosure_pnpVarMedianRatio">
|
|
<property name="minimum">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>4</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_loopClosure_pnpOpenCV2">
|
|
<property name="text">
|
|
<string>Refine iterations.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="loopClosure_pnpRefineIterations">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_loopClosure_pnpOpenCV2_5">
|
|
<property name="text">
|
|
<string>Compute variance for each linear component instead of using the combined XYZ variance for all linear components.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_pnpSplitLinearCovComponents">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_40">
|
|
<layout class="QVBoxLayout" name="verticalLayout_72">
|
|
<property name="spacing">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="leftMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="topMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="bottomMargin">
|
|
<number>0</number>
|
|
</property>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_14">
|
|
<property name="title">
|
|
<string>2D to 2D (Epipolar Geometry)</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_73">
|
|
<item>
|
|
<widget class="QLabel" name="label_671">
|
|
<property name="text">
|
|
<string>Experimental! PnP parameters are also used here.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_60" columnstretch="0,1">
|
|
<item row="0" 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>
|
|
<item row="0" 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>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_52">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_VisExtract">
|
|
<property name="title">
|
|
<string>Visual Feature</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_46" stretch="0,0,1">
|
|
<item>
|
|
<widget class="QLabel" name="label_182">
|
|
<property name="text">
|
|
<string>The features are not extracted if the compared nodes have already features extracted.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_25" columnstretch="0,1">
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_450">
|
|
<property name="text">
|
|
<string>Use depth image as mask when extracting features.</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="QLabel" name="label_756">
|
|
<property name="text">
|
|
<string>If true, SSC (Suppression via Square Covering) is applied to limit 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="QLabel" name="label_237">
|
|
<property name="text">
|
|
<string>Maximum feature depth.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="reextract_gridcols">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_275">
|
|
<property name="text">
|
|
<string>Minimum feature depth.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_438">
|
|
<property name="text">
|
|
<string>Number of rows of the grid used to extract uniformly "max features / grid cells" features from each cell.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_bowMinDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_visSSC">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="checkBox_visDepthAsMask">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_439">
|
|
<property name="text">
|
|
<string>Number of columns of the grid used to extract uniformly "max features / grid cells" features from each cell.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="reextract_maxFeatures">
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_180">
|
|
<property name="text">
|
|
<string>Max features extracted from the images (0 means inf).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="vis_feature_detector">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="sizeAdjustPolicy">
|
|
<enum>QComboBox::AdjustToContents</enum>
|
|
</property>
|
|
<item>
|
|
<property name="text">
|
|
<string>SURF</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SIFT</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ORB</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FAST+FREAK</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>FAST+BRIEF</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT+FREAK</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT+BRIEF</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>BRISK</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT+ORB</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>KAZE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>ORB OCTREE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SuperPoint Torch</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SURF+FREAK</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>GFTT+DAISY</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SURF+DAISY</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>PyDetector</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SuperPoint Rpautrat</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_178">
|
|
<property name="text">
|
|
<string>Feature detector </string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_bowMaxDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>60.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QLineEdit" name="loopClosure_roi"/>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QSpinBox" name="reextract_gridrows">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_261">
|
|
<property name="text">
|
|
<string>ROI ratios [left right top bottom] between 0 and 1.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_759">
|
|
<property name="text">
|
|
<string>Filter floor from depth mask. 0 means disabled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_visDepthMaskFloorThr">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>-99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_11">
|
|
<property name="title">
|
|
<string>Sub Pixel Refining</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_59">
|
|
<item>
|
|
<widget class="QLabel" name="label_35">
|
|
<property name="text">
|
|
<string>Refining corners to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_36" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="subpix_winSize">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>5</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_200">
|
|
<property name="text">
|
|
<string>Window size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="subpix_iterations">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>20</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_203">
|
|
<property name="text">
|
|
<string>Iterations. 0 disables sub pixel refining.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="subpix_eps">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.030000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_204">
|
|
<property name="text">
|
|
<string>Epsilon.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_37">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_66">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_20">
|
|
<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 class="QWidget" name="page_27">
|
|
<layout class="QVBoxLayout" name="verticalLayout_52" stretch="0,1">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_icp2">
|
|
<property name="title">
|
|
<string>ICP Registration</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_20">
|
|
<item>
|
|
<widget class="QLabel" name="label_7">
|
|
<property name="text">
|
|
<string>Iterative closest point (ICP) parameters.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
|
|
<item row="13" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_icpForce4DoF">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.700000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_560">
|
|
<property name="text">
|
|
<string>Maximum range filtering. Set to 0 to disable.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="loopClosure_icpIterations">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>10</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_125">
|
|
<property name="text">
|
|
<string>Uniform sampling voxel size. Set to 0 to disable.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="0">
|
|
<widget class="QSpinBox" name="loopClosure_icpPointToPlaneNormals">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>20</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="24" column="1">
|
|
<widget class="QLabel" name="label_640">
|
|
<property name="text">
|
|
<string>Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are "pcd", "ply" or "vtk". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.</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="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpVoxelSize">
|
|
<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>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.005000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="19" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsRadius">
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="21" column="1">
|
|
<widget class="QLabel" name="label_429">
|
|
<property name="text">
|
|
<string>Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when PointToPlane 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="24" column="0">
|
|
<widget class="QLineEdit" name="loopClosure_icpDebugExportFormat"/>
|
|
</item>
|
|
<item row="23" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_icpPointToPlaneComplexityCentered">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="23" column="1">
|
|
<widget class="QLabel" name="label_icpPointToPlaneComplexityCentered">
|
|
<property name="text">
|
|
<string>Structural-complexity metric. If unchecked (default), use the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T) — its smallest eigenvalue measures how well the surface normals span the ambient space, which correctly distinguishes perpendicular-surface scenes from corridors. If checked, use centered PCA (cv::PCA covariance) for backwards compatibility — but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="20" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneGroundNormalsUp">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="20" column="1">
|
|
<widget class="QLabel" name="label_608">
|
|
<property name="text">
|
|
<string>Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_133">
|
|
<property name="text">
|
|
<string>Ratio of matching correspondences to accept the transform. If the maximum laser scans is set, this is the minimum ratio of correspondences on laser scan maximum size to accept the transform.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="19" column="1">
|
|
<widget class="QLabel" name="label_426">
|
|
<property name="text">
|
|
<string>Search radius to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="loopClosure_icpDownsamplingStep">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_136">
|
|
<property name="text">
|
|
<string>Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpRangeMin">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_622">
|
|
<property name="text">
|
|
<string>Force 4 DoF: Limit ICP to x, y, z and yaw DoF. Available only with libpointmatcher or CCCoreLib strategies.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="21" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsMinComplexity">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_139">
|
|
<property name="text">
|
|
<string>Downsampling step of the cloud. Set to 1 to disable. This is done before uniform sampling.</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="QLabel" name="label_51">
|
|
<property name="text">
|
|
<string>Maximum ICP translation correction accepted (>0). A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_icpOutlierRatio">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.850000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.989999999999782</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="15" column="1">
|
|
<widget class="QLabel" name="label_446">
|
|
<property name="text">
|
|
<string>Outlier ratio used when ICP strategy is not PCL. For libpointmatcher, this parameter set TrimmedDistOutlierFilter / ratio for convenience when configuration file is not set. For CCCoreLib, this parameter set the "finalOverlapRatio". </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_icpReciprocalCorrespondences">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="22" column="1">
|
|
<widget class="QLabel" name="label_6071">
|
|
<property name="text">
|
|
<string>Structural complexity strategy. If structural complexity is below the minimum complexity threshold: 0 = reject the transform; 1 (default) = recompute with PointToPoint and limit ICP correction along the unconstrained axes (e.g. in a corridor, x is taken from the guess while y/yaw are still solved for); 2 = recompute with PointToPoint and accept the result "as is"; 3 = keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="22" column="0">
|
|
<widget class="QComboBox" name="loopClosure_icpPointToPlaneLowComplexityStrategy">
|
|
<item>
|
|
<property name="text">
|
|
<string>Reject</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Constrained PointToPoint</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>PointToPoint</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Constrained PointToPlane</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="17" column="1">
|
|
<widget class="QLabel" name="label_212">
|
|
<property name="text">
|
|
<string>Number of neighbors to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_124">
|
|
<property name="text">
|
|
<string>Max iterations.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="16" column="1">
|
|
<widget class="QLabel" name="label_144">
|
|
<property name="text">
|
|
<string>Point to plane ICP.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpEpsilon">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_559">
|
|
<property name="text">
|
|
<string>Minimum range filtering. Set to 0 to disable.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_icpStrategy">
|
|
<item>
|
|
<property name="text">
|
|
<string>PCL (Point Cloud Library)</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>libpointmatcher</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>CCCoreLib (CloudCompare)</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="globalDetection_icpMaxRotation">
|
|
<property name="suffix">
|
|
<string> rad</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>3.140000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.780000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_55">
|
|
<property name="text">
|
|
<string>Maximum ICP rotation correction accepted (>0). A large rotation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_617">
|
|
<property name="text">
|
|
<string>Strategy.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="globalDetection_icpMaxTranslation">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.200000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_122">
|
|
<property name="text">
|
|
<string>Max distance for point correspondences.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="loopClosure_icpRangeMax">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_654">
|
|
<property name="text">
|
|
<string>Reciprocal correspondences. To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_7451">
|
|
<property name="text">
|
|
<string>Flag to enable filters above: 1="from" cloud only, 2="to" cloud only, 3=both.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QSpinBox" name="loopClosure_icpFiltersEnabled">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_icpStrategy">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_90">
|
|
<layout class="QVBoxLayout" name="verticalLayout_156">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_33">
|
|
<property name="title">
|
|
<string>Point Cloud Library</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_160">
|
|
<item>
|
|
<widget class="QLabel" name="label_628">
|
|
<property name="text">
|
|
<string><html><head/><body><p><a href="https://pointclouds.org/documentation/classpcl_1_1_iterative_closest_point.html#details"><span style=" text-decoration: underline; color:#0000ff;">https://pointclouds.org/</span></a></p></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_82">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>380</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_91">
|
|
<layout class="QVBoxLayout" name="verticalLayout_157">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_libpointmatcher">
|
|
<property name="title">
|
|
<string>libpointmatcher</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_126">
|
|
<item>
|
|
<widget class="QLabel" name="label_422">
|
|
<property name="text">
|
|
<string><html><head/><body><p><a href="https://github.com/ethz-asl/libpointmatcher"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/ethz-asl/libpointmatcher</span></a></p><p>libpointmatcher is a modular library implementing the Iterative Closest Point (ICP) algorithm for aligning point clouds. It has applications in robotics and computer vision. When enabled, libpointmatcher is used for ICP registration instead of PCL's implementation.</p><p>Below we can set a <a href="https://github.com/ethz-asl/libpointmatcher/blob/master/doc/Configuration.md"><span style=" text-decoration: underline; color:#0000ff;">configuration file</span></a> (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., voxel filtering or downsampling above), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Maximum iterations, epsilon and max correspondence distance parameters are also ignored if configuration file is set.<br/></p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_11" stretch="0,0,1">
|
|
<item>
|
|
<widget class="QToolButton" name="toolButton_IcpConfigPath">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLineEdit" name="lineEdit_IcpPMConfigPath"/>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_423">
|
|
<property name="text">
|
|
<string>Configuration file (*.yaml).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_97" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_icpPMMatcherKnn">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_424">
|
|
<property name="text">
|
|
<string>KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="loopClosure_icpPMMatcherIntensity">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_icpPMMatcherEpsilon">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_447">
|
|
<property name="text">
|
|
<string>KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.</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="QLabel" name="label_609">
|
|
<property name="text">
|
|
<string>KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with knn>1.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_92">
|
|
<layout class="QVBoxLayout" name="verticalLayout_158">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_32">
|
|
<property name="title">
|
|
<string>CCCoreLib</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_159">
|
|
<item>
|
|
<widget class="QLabel" name="label_623">
|
|
<property name="text">
|
|
<string><html><head/><body><p><a href="https://github.com/CloudCompare/CCCoreLib"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/CloudCompare/CCCoreLib</span></a></p></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_121" columnstretch="0,1">
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_icpCCMaxFinalRMS">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000001000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_630">
|
|
<property name="text">
|
|
<string>If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_icpCCSamplingLimit">
|
|
<property name="minimum">
|
|
<number>100</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50000</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_631">
|
|
<property name="text">
|
|
<string>Maximum final RMS error.</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="QLabel" name="label_629">
|
|
<property name="text">
|
|
<string>Maximum number of points per cloud (they are randomly resampled below this limit otherwise).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_icpCCFilterOutFarthestPoints">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_75">
|
|
<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>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_21">
|
|
<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 class="QWidget" name="page_65">
|
|
<layout class="QVBoxLayout" name="verticalLayout_114">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_optimizer1">
|
|
<property name="title">
|
|
<string>Optimizer</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_113">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_80" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="graphOptimization_iterations">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>100</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="graphOptimization_stopEpsilon">
|
|
<property name="decimals">
|
|
<number>5</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_141">
|
|
<property name="text">
|
|
<string>Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances).</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="QLabel" name="label_64">
|
|
<property name="text">
|
|
<string>Stop optimizing when the error improvement is less than this value.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="graphOptimization_covarianceIgnored">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_31">
|
|
<property name="text">
|
|
<string>Iterations.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_20">
|
|
<property name="title">
|
|
<string>Bundle Adjustement</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_84" columnstretch="0,1">
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_disparityVariance">
|
|
<property name="text">
|
|
<string>Disparity variance. Set higher if the depth source is noisier than the feature precision (e.g. stereo block matching at long range); set lower if depth is more accurate than 2d pixel location of the features (e.g. ToF / LiDAR-fused depth).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_350">
|
|
<property name="text">
|
|
<string>Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Observations with chi2 over this threshold will be ignored in the second optimization pass.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_352">
|
|
<property name="text">
|
|
<string>When doing bundle adjustment with RGB-D data, we can set a fake baseline to do stereo bundle adjustment (if 0, mono bundle adjustment is done). For stereo data, the baseline in the calibration is used directly.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_robustKernelDelta">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>5.991000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_baseline">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.075000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_optimizer_disparityVariance">
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_pixelVariance">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_148">
|
|
<property name="text">
|
|
<string>Pixel variance of the feature detection. Set higher if features are noisy (low texture, motion blur); set lower if features are sub-pixel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBoxx_g2o">
|
|
<property name="title">
|
|
<string>g2o</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_117">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_70" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_g2o_solver">
|
|
<item>
|
|
<property name="text">
|
|
<string>CSparse</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>PCG</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Cholmod</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Eigen</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_107">
|
|
<property name="text">
|
|
<string>Solver.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QComboBox" name="comboBox_g2o_optimizer">
|
|
<item>
|
|
<property name="text">
|
|
<string>Levenberg</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Gauss Newton</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_138">
|
|
<property name="text">
|
|
<string>Optimization algorithm.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_19">
|
|
<property name="title">
|
|
<string>GTSAM</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_83" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_gtsam_optimizer">
|
|
<item>
|
|
<property name="text">
|
|
<string>Levenberg</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Gauss Newton</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Dogleg</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_7421">
|
|
<property name="text">
|
|
<string>iSAM2: Do graph optimization incrementally to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported in this mode.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_364">
|
|
<property name="text">
|
|
<string>Optimization algorithm.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="gtsam_incremental_threshold">
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_7431">
|
|
<property name="text">
|
|
<string>Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="gtsam_incremental">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="gtsam_incremental_skip">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>10</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_7441">
|
|
<property name="text">
|
|
<string>Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_58">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>2185</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_29">
|
|
<layout class="QVBoxLayout" name="verticalLayout_57">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_stereo1">
|
|
<property name="title">
|
|
<string>Stereo</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_56">
|
|
<item>
|
|
<widget class="QLabel" name="label_187">
|
|
<property name="text">
|
|
<string>These parameters are used to find the 3D positions of visual words using disparity between the left and right images. Optical flow can be used to find corresponding corners in the right image of words extracted from the left image.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_10">
|
|
<property name="title">
|
|
<string/>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_33" columnstretch="0,1">
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_286">
|
|
<property name="text">
|
|
<string>Maximum disparity.</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="0">
|
|
<widget class="QSpinBox" name="stereo_iterations">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>30</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_214">
|
|
<property name="text">
|
|
<string>Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_208">
|
|
<property name="text">
|
|
<string>Maximum pyramid level.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_207">
|
|
<property name="text">
|
|
<string>[OpticalFlow = true] Epsilon stop criterion.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="stereo_maxDisparity">
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_206">
|
|
<property name="text">
|
|
<string>Maximum iterations.</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="QLabel" name="label_205">
|
|
<property name="text">
|
|
<string>Window width.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_287">
|
|
<property name="text">
|
|
<string>[OpticalFlow = false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_285">
|
|
<property name="text">
|
|
<string>Minimum disparity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="stereo_minDisparity">
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QDoubleSpinBox" name="stereo_flow_eps">
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QCheckBox" name="stereo_ssd">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="stereo_opticalFlow">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="stereo_winWidth">
|
|
<property name="minimum">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="stereo_maxLevel">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_284">
|
|
<property name="text">
|
|
<string>Window height.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="stereo_winHeight">
|
|
<property name="minimum">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QCheckBox" name="stereo_flow_useMinEigenVals">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_788">
|
|
<property name="text">
|
|
<string>[OpticalFlow = true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QDoubleSpinBox" name="stereo_flow_minEigThreshold">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_789">
|
|
<property name="text">
|
|
<string>[OpticalFlow = true / Eigen error measure] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="0">
|
|
<widget class="QDoubleSpinBox" name="stereo_flow_errorThreshold">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>50.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="12" column="1">
|
|
<widget class="QLabel" name="label_790">
|
|
<property name="text">
|
|
<string>[OpticalFlow = true / L1 error measure] Filter out features with error greater than this threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="0">
|
|
<widget class="QCheckBox" name="stereo_flow_gpu">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="13" column="1">
|
|
<widget class="QLabel" name="label_stereo_flow_gpu">
|
|
<property name="text">
|
|
<string>[OpticalFlow = true] Do optical flow on GPU. RTAB-Map should be built with OpenCV CUDA. Note that the error measure parameter is not used with the GPU implementation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_29">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>464</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_51">
|
|
<layout class="QVBoxLayout" name="verticalLayout_83">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_stereoDense2">
|
|
<property name="title">
|
|
<string>Stereo Dense</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_82" stretch="0,0,1">
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_13" stretch="0,1">
|
|
<item>
|
|
<widget class="QComboBox" name="comboBox_stereoDense_strategy">
|
|
<item>
|
|
<property name="text">
|
|
<string>StereoBM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>StereoSGBM</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QLabel" name="label_515">
|
|
<property name="text">
|
|
<string>This approach is used to construct a dense disparity image for visualization (RGB-D point clouds) or to create a depth image when acquiring from a stereo source. </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_stereoDense">
|
|
<property name="currentIndex">
|
|
<number>1</number>
|
|
</property>
|
|
<widget class="QWidget" name="page_75">
|
|
<layout class="QVBoxLayout" name="verticalLayout_133">
|
|
<item>
|
|
<widget class="QLabel" name="label_197">
|
|
<property name="text">
|
|
<string>Stereo correspondence using the block matching algorithm (cv::StereoBM), introduced and contributed to OpenCV by K. Konolige. This approach is used to construct a dense disparity image for visualization (RGB-D point clouds) or to create a depth image when acquiring from a stereo source. </string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_16">
|
|
<property name="title">
|
|
<string/>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_34" columnstretch="0,1">
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="stereobm_uniquessRatio">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="stereobm_numDisparities">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="stereobm_preFilterCap">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_278">
|
|
<property name="text">
|
|
<string>Pre-filter Size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_276">
|
|
<property name="text">
|
|
<string>Minimum disparity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_281">
|
|
<property name="text">
|
|
<string>Texture threshold.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_279">
|
|
<property name="text">
|
|
<string>Pre-filter Cap.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QSpinBox" name="stereobm_speckleWinSize">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_277">
|
|
<property name="text">
|
|
<string>Number of disparities.</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="QLabel" name="label_216">
|
|
<property name="text">
|
|
<string>Block size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="stereobm_minDisparity">
|
|
<property name="minimum">
|
|
<number>-999999</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="stereobm_blockSize">
|
|
<property name="minimum">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QSpinBox" name="stereobm_preFilterSize">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_280">
|
|
<property name="text">
|
|
<string>Uniqueness ratio.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QSpinBox" name="stereobm_tetureThreshold">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QSpinBox" name="stereobm_speckleRange">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_282">
|
|
<property name="text">
|
|
<string>Speckle window size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_283">
|
|
<property name="text">
|
|
<string>Speckle range.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_501">
|
|
<property name="text">
|
|
<string>Disp 12 max diff.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="stereobm_disp12MaxDiff">
|
|
<property name="minimum">
|
|
<number>-1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_76">
|
|
<layout class="QVBoxLayout" name="verticalLayout_134">
|
|
<item>
|
|
<widget class="QLabel" name="label_514">
|
|
<property name="text">
|
|
<string>Stereo correspondence approach (cv::StereoSGBM) implementing the modified H. Hirschmuller algorithm.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_30">
|
|
<property name="title">
|
|
<string/>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_105" columnstretch="0,1">
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="label_517">
|
|
<property name="text">
|
|
<string>P1.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_disp12MaxDiff">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="label_516">
|
|
<property name="text">
|
|
<string>Disp 12 max diff.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_numDisparities">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_uniquessRatio">
|
|
<property name="minimum">
|
|
<number>-1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_499">
|
|
<property name="text">
|
|
<string>Pre-filter Cap.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_500">
|
|
<property name="text">
|
|
<string>Minimum disparity.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_speckleWinSize">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_504">
|
|
<property name="text">
|
|
<string>Block size.</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="QLabel" name="label_503">
|
|
<property name="text">
|
|
<string>Number of disparities.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_minDisparity">
|
|
<property name="minimum">
|
|
<number>-999999</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_preFilterCap">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_blockSize">
|
|
<property name="minimum">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_505">
|
|
<property name="text">
|
|
<string>Uniqueness ratio.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_506">
|
|
<property name="text">
|
|
<string>Speckle window size.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_512">
|
|
<property name="text">
|
|
<string>Speckle range.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_speckleRange">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_p2">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="10" column="1">
|
|
<widget class="QLabel" name="label_518">
|
|
<property name="text">
|
|
<string>P2.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QSpinBox" name="stereosgbm_p1">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>999999</number>
|
|
</property>
|
|
<property name="singleStep">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>21</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="1">
|
|
<widget class="QLabel" name="label_519">
|
|
<property name="text">
|
|
<string>Mode.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="11" column="0">
|
|
<widget class="QComboBox" name="stereosgbm_mode">
|
|
<item>
|
|
<property name="text">
|
|
<string>SGBM</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>HH</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SGBM_3WAY</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_53">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>2367</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_45">
|
|
<layout class="QVBoxLayout" name="verticalLayout_74">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_feature1">
|
|
<property name="title">
|
|
<string>Feature</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_75">
|
|
<item>
|
|
<widget class="QLabel" name="label_10">
|
|
<property name="text">
|
|
<string>Parameters for each corresponding OpenCV feature type. See the sub panels.</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_36">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>1197</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_13">
|
|
<layout class="QVBoxLayout" name="verticalLayout_38">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_surf2">
|
|
<property name="title">
|
|
<string>SURF</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
|
|
<item row="4" column="0">
|
|
<widget class="QCheckBox" name="surf_checkBox_upright">
|
|
<property name="enabled">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_41">
|
|
<property name="text">
|
|
<string>Octave layers.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_8">
|
|
<property name="text">
|
|
<string>Descriptor extended (true=128, false=64).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_surf_checkBox_gpuKeypointsRatio">
|
|
<property name="enabled">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="text">
|
|
<string>GPU keypoints ratio.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_surf_checkBox_gpuVersion">
|
|
<property name="enabled">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="text">
|
|
<string>GPU version.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="surf_spinBox_octaves">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>100000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>4</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="surf_checkBox_gpuVersion">
|
|
<property name="enabled">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_49">
|
|
<property name="text">
|
|
<string>U-SURF used.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_gpuKeypointsRatio">
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_hessianThr">
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>50000.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>500.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_surfExtended">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="surf_spinBox_octaveLayers">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>100000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_26">
|
|
<property name="text">
|
|
<string>Octaves.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_4">
|
|
<property name="text">
|
|
<string>Hessian threshold.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_17">
|
|
<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 class="QWidget" name="page_14">
|
|
<layout class="QVBoxLayout" name="verticalLayout_39">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_sift2">
|
|
<property name="title">
|
|
<string>SIFT</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_19" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_130">
|
|
<property name="text">
|
|
<string>The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QCheckBox" name="sift_checkBox_gpu">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="sift_label_preciseUpscale">
|
|
<property name="text">
|
|
<string>Whether to enable precise upscaling in the scale pyramid.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="sift_label_gaussianThreshold">
|
|
<property name="text">
|
|
<string>CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="0">
|
|
<widget class="QCheckBox" name="sift_checkBox_upscale">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_5">
|
|
<property name="text">
|
|
<string>Contrast threshold. The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="sift_checkBox_rootsift">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QCheckBox" name="sift_checkBox_preciseUpscale">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="sift_label_gpu">
|
|
<property name="text">
|
|
<string>CudaSift: Use GPU version of SIFT. This option is enabled only RTAB-Map is built with CudaSift dependency and GPUs are detected.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="sift_spinBox_nOctaveLayers"/>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_129">
|
|
<property name="text">
|
|
<string>Sigma. The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_contrastThr">
|
|
<property name="decimals">
|
|
<number>6</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>50000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.006667000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_sigma">
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="9" column="1">
|
|
<widget class="QLabel" name="sift_label_upscale">
|
|
<property name="text">
|
|
<string>CudaSift: Whether to enable upscaling.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_30">
|
|
<property name="text">
|
|
<string>Edge threshold. The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_gaussianDiffThreshold">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>4.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_edgeThr">
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="sift_label_rootsift">
|
|
<property name="text">
|
|
<string>RootSIFT.</string>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="1">
|
|
<widget class="QLabel" name="sift_label_maxGaussianThreshold">
|
|
<property name="text">
|
|
<string>CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than gaussian threshold above). The lower the threshold, the less features with high response/hessian are produced by the detector.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="8" column="0">
|
|
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_maxGaussianDiffThreshold">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>4.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_19">
|
|
<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 class="QWidget" name="page_17">
|
|
<layout class="QVBoxLayout" name="verticalLayout_14">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_fast2">
|
|
<property name="title">
|
|
<string>FAST</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_94" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="fastThreshold">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_56">
|
|
<property name="text">
|
|
<string>Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="fastThresholdMin">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_111">
|
|
<property name="text">
|
|
<string>Minimum threshold. Used when FAST/GridRows and FAST/GridCols are set or if ORBSLAM2 odometry is used.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="fastSuppressNonMax">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_69">
|
|
<property name="text">
|
|
<string>If true, non-maximum suppression is applied to detected corners (keypoints).</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="QLabel" name="label_561">
|
|
<property name="text">
|
|
<string>Enable FastCV implementation if non-zero. Values should be 9 and 10 to choose which FastCV approach is used..</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="fastCV">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>10</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_fast_opencv2">
|
|
<property name="title">
|
|
<string>OpenCV 2</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_71" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="fastThresholdMax">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>50</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_115">
|
|
<property name="text">
|
|
<string>Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="fastGridRows">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_104">
|
|
<property name="text">
|
|
<string>Grid rows (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="fastGridCols">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_109">
|
|
<property name="text">
|
|
<string>Grid cols (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell.</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="0">
|
|
<widget class="QCheckBox" name="fastGpu">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_fastGPU">
|
|
<property name="text">
|
|
<string>GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QDoubleSpinBox" name="fastKeypointRatio">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_fastGPUKptRatio">
|
|
<property name="text">
|
|
<string>Used with FAST GPU.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_16">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_15">
|
|
<layout class="QVBoxLayout" name="verticalLayout_40">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_brief2">
|
|
<property name="title">
|
|
<string>BRIEF</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_16" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="briefBytes">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>1000</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>32</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_52">
|
|
<property name="text">
|
|
<string>Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_22">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>660</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_18">
|
|
<layout class="QVBoxLayout" name="verticalLayout_35">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_orb2">
|
|
<property name="title">
|
|
<string>ORB</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBScaleFactor">
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.200000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_32">
|
|
<property name="text">
|
|
<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>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_ORBNLevels">
|
|
<property name="value">
|
|
<number>8</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_43">
|
|
<property name="text">
|
|
<string>The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_ORBEdgeThreshold">
|
|
<property name="value">
|
|
<number>31</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_95">
|
|
<property name="text">
|
|
<string>This is size of the border where the features are not detected. It should roughly match the patchSize parameter.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_ORBFirstLevel">
|
|
<property name="maximum">
|
|
<number>0</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_127">
|
|
<property name="text">
|
|
<string>It should be 0 in the current implementation.</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="0">
|
|
<widget class="QSpinBox" name="spinBox_ORBWTA_K">
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_128">
|
|
<property name="text">
|
|
<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>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="spinBox_ORBScoreType"/>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_140">
|
|
<property name="text">
|
|
<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>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="0">
|
|
<widget class="QSpinBox" name="spinBox_ORBPatchSize">
|
|
<property name="value">
|
|
<number>31</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="6" column="1">
|
|
<widget class="QLabel" name="label_147">
|
|
<property name="text">
|
|
<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>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="0">
|
|
<widget class="QCheckBox" name="checkBox_ORBGpu">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="7" column="1">
|
|
<widget class="QLabel" name="label_orbGpu">
|
|
<property name="text">
|
|
<string>GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_18">
|
|
<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 class="QWidget" name="page_11">
|
|
<layout class="QVBoxLayout" name="verticalLayout_36">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_freak2">
|
|
<property name="title">
|
|
<string>FREAK</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_FREAKOrientationNormalized">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_6">
|
|
<property name="text">
|
|
<string>Enable orientation normalization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_FREAKScaleNormalized">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_9">
|
|
<property name="text">
|
|
<string>Enable scale normalization.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_FREAKPatternScale">
|
|
<property name="value">
|
|
<double>22.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_13">
|
|
<property name="text">
|
|
<string>Scaling of the description pattern.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_FREAKNOctaves">
|
|
<property name="value">
|
|
<number>4</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_23">
|
|
<property name="text">
|
|
<string>Number of octaves covered by the detected keypoints.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_13">
|
|
<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 class="QWidget" name="page_16">
|
|
<layout class="QVBoxLayout" name="verticalLayout_9">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_gftt2">
|
|
<property name="title">
|
|
<string>GFTT</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_21" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_175">
|
|
<property name="text">
|
|
<string>Quality level. Parameter characterizing the minimal accepted quality of image corners. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue (see cornerMinEigenVal() ) or the Harris function response. The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure less than 15 are rejected.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_minDistance">
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QCheckBox" name="checkBox_GFTT_useHarrisDetector">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_qualityLevel">
|
|
<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>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_173">
|
|
<property name="text">
|
|
<string>K. Harris detector free parameter.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_GFTT_blockSize">
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_k">
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.040000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_177">
|
|
<property name="text">
|
|
<string>Block size. Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.</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="QLabel" name="label_176">
|
|
<property name="text">
|
|
<string>Minimum possible Euclidean distance between the returned corners.</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="QLabel" name="label_172">
|
|
<property name="text">
|
|
<string>Use Harris detector.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_GFTT_gpu">
|
|
<property name="text">
|
|
<string>GPU-GFTT: Use GPU version of GFTT. This option is available only if OpenCV>=3 is built with CUDA and GPUs are detected.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QCheckBox" name="checkBox_GFTT_gpu">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_25">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>644</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_25">
|
|
<layout class="QVBoxLayout" name="verticalLayout_47">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_brisk2">
|
|
<property name="title">
|
|
<string>BRISK</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_26" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_191">
|
|
<property name="text">
|
|
<string>FAST/AGAST detection threshold score.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_BRISK_patterScale">
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_188">
|
|
<property name="text">
|
|
<string>Detection octaves. Use 0 to do single scale.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_BRISK_octaves">
|
|
<property name="maximum">
|
|
<number>10</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_189">
|
|
<property name="text">
|
|
<string>Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_BRISK_thresh">
|
|
<property name="maximum">
|
|
<number>9999</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>30</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_26">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>742</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_71">
|
|
<layout class="QVBoxLayout" name="verticalLayout_3">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_detector_kaze2">
|
|
<property name="title">
|
|
<string>KAZE</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_95" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kaze_extended">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_420">
|
|
<property name="text">
|
|
<string>Set to enable use of upright descriptors (non rotation-invariant).</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="QLabel" name="label_416">
|
|
<property name="text">
|
|
<string>Maximum octave evolution of the image.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_kaze_upright">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_417">
|
|
<property name="text">
|
|
<string>Default number of sublevels per scale level.</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="0">
|
|
<widget class="QSpinBox" name="spinBox_kaze_octavelayers">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>16</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_kaze_octaves">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>16</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>16</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_419">
|
|
<property name="text">
|
|
<string>Set to enable extraction of extended (128-byte) descriptor.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_kaze_threshold">
|
|
<property name="decimals">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000100000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>9999.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_418">
|
|
<property name="text">
|
|
<string>Detector response threshold to accept point.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="1">
|
|
<widget class="QLabel" name="label_421">
|
|
<property name="text">
|
|
<string>Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="5" column="0">
|
|
<widget class="QSpinBox" name="spinBox_kaze_diffusivity">
|
|
<property name="maximum">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>3</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_65">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>2487</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</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>SuperPoint Torch</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_147">
|
|
<item>
|
|
<widget class="QLabel" name="label_575">
|
|
<property name="text">
|
|
<string><html><head/><body><p>SuperPoint c++ implementation from <a href="https://github.com/KinglittleQ/SuperPoint_SLAM"><span style=" text-decoration: underline; color:#0000ff;">SuperPoint_SLAM</span></a> project based on pytorch. A <span style=" font-weight:600;">superpoint.pt</span> weights file can be downloaded from its Git. It should be the same weights file <a href="https://pytorch.org/tutorials/advanced/cpp_export.html"><span style=" text-decoration: underline; color:#0000ff;">converted</span></a> from <span style=" font-weight:600;">superpoint.pth</span> of the <a href="https://github.com/magicleap/SuperPointPretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperPointPretrainedNetwork</span></a> project.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_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>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_87">
|
|
<layout class="QVBoxLayout" name="verticalLayout_153">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_pydetector2">
|
|
<property name="title">
|
|
<string>PyDetector</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_152">
|
|
<item>
|
|
<widget class="QLabel" name="label_614">
|
|
<property name="text">
|
|
<string><html><head/><body><p>Python wrapper for python feature detector like <a href="https://github.com/magicleap/SuperPointPretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperPoint</span></a>. Download the <a href="https://github.com/introlab/rtabmap/tree/master/corelib/src/python"><span style=" text-decoration: underline; color:#0000ff;">script</span></a> and copy it at the root folder of SuperPoint git, then set its path below.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="openExternalLinks">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_118" columnstretch="0,0,1">
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_615">
|
|
<property name="text">
|
|
<string><html><head/><body><p>[Required] Path to python script file.</p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_pydetector_path"/>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_pydetector_path">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QCheckBox" name="checkBox_pydetector_cuda">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="2">
|
|
<widget class="QLabel" name="label_618">
|
|
<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>
|
|
</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>3128</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_101">
|
|
<layout class="QVBoxLayout" name="verticalLayout_183">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_42">
|
|
<property name="title">
|
|
<string>SuperPoint Rpautrat</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_184">
|
|
<item>
|
|
<widget class="QLabel" name="label_131">
|
|
<property name="text">
|
|
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
|
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
|
p, li { white-space: pre-wrap; }
|
|
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
|
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">SuperPoint C++ implementation from the <a href="https://github.com/rpautrat/SuperPoint"><span style=" text-decoration: underline; color:#0000ff;">rpautrat/SuperPoint</span></a> project.</p>
|
|
<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A &quot;pt&quot; model file with same name than the &quot;pth&quot; file will be generated automatically in RTAB-Map's working directory so that the model can be called by c++ libtorch directly.</p>
|
|
<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">RTAB-Map must be built with libtorch and python to use this feature.<br /></p></body></html></string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_139" columnstretch="0,0,1">
|
|
<item row="5" column="1">
|
|
<widget class="QCheckBox" name="checkBox_sprpautrat_cuda">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_sprpautrat_weights_path"/>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QSpinBox" name="spinBox_sprpautrat_minDistance"/>
|
|
</item>
|
|
<item row="0" column="2">
|
|
<widget class="QLabel" name="label_768">
|
|
<property name="text">
|
|
<string>[Required] SuperPoint weights file (*.pth).</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="2">
|
|
<widget class="QLabel" name="label_769">
|
|
<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="5" column="2">
|
|
<widget class="QLabel" name="label_772">
|
|
<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="0" column="0">
|
|
<widget class="QToolButton" name="toolButton_sprpautrat_weights_path">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_sprpautrat_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="3" column="2">
|
|
<widget class="QLabel" name="label_771">
|
|
<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="3" column="1">
|
|
<widget class="QCheckBox" name="checkBox_sprpautrat_nms">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="2">
|
|
<widget class="QLabel" name="label_773">
|
|
<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="1" column="2">
|
|
<widget class="QLabel" name="label_781">
|
|
<property name="text">
|
|
<string>[Required] SuperPoint python model file (superpoint_pytorch.py).</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLineEdit" name="lineEdit_sprpautrat_model_path"/>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QToolButton" name="toolButton_sprpautrat_model_path">
|
|
<property name="text">
|
|
<string>...</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_91">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>4561</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout">
|
|
<property name="leftMargin">
|
|
<number>12</number>
|
|
</property>
|
|
<property name="rightMargin">
|
|
<number>12</number>
|
|
</property>
|
|
<item>
|
|
<widget class="QDialogButtonBox" name="buttonBox_local">
|
|
<property name="orientation">
|
|
<enum>Qt::Horizontal</enum>
|
|
</property>
|
|
<property name="standardButtons">
|
|
<set>QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
|
<item>
|
|
<widget class="QRadioButton" name="radioButton_basic">
|
|
<property name="text">
|
|
<string>Basic</string>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QRadioButton" name="radioButton_advanced">
|
|
<property name="text">
|
|
<string>Advanced</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QDialogButtonBox" name="buttonBox_global">
|
|
<property name="orientation">
|
|
<enum>Qt::Horizontal</enum>
|
|
</property>
|
|
<property name="standardButtons">
|
|
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<customwidgets>
|
|
<customwidget>
|
|
<class>UPlot</class>
|
|
<extends>QWidget</extends>
|
|
<header>../include/rtabmap/utilite/UPlot.h</header>
|
|
<container>1</container>
|
|
</customwidget>
|
|
<customwidget>
|
|
<class>QMultiComboBox</class>
|
|
<extends>QComboBox</extends>
|
|
<header>3rdParty/QMultiComboBox.h</header>
|
|
</customwidget>
|
|
</customwidgets>
|
|
<resources>
|
|
<include location="../GuiLib.qrc"/>
|
|
</resources>
|
|
<connections/>
|
|
</ui>
|