mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
New parameter: RGBD/LocalizationSecondTryWithoutProximityLinks (#1499)
* Added parameter RGBD/LocalizationSecondTryWithoutProximityLinks * Statistics: added new stat to know when proximity links are removed after a successful second loc try * changed kLoopProximity_links_cleared for a count instead of bool * Updating odomCachePoses with optimization for better visualization
This commit is contained in:
matlabbe
@@ -1256,6 +1256,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->spinBox_maxOdomCacheSize->setObjectName(Parameters::kRGBDMaxOdomCacheSize().c_str());
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_ui->checkbox_localizationSmoothing->setObjectName(Parameters::kRGBDLocalizationSmoothing().c_str());
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_ui->doubleSpinBox_localizationPriorError->setObjectName(Parameters::kRGBDLocalizationPriorError().c_str());
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_ui->checkbox_localizationSecondTryWithoutProximityLinks->setObjectName(Parameters::kRGBDLocalizationSecondTryWithoutProximityLinks().c_str());
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// Registration
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_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());
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@@ -63,7 +63,7 @@
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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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<y>-659</y>
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<width>713</width>
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<height>4705</height>
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</rect>
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@@ -95,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>21</number>
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<number>12</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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@@ -12386,6 +12386,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>Map Update</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1">
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<item row="18" column="1">
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<widget class="QLabel" name="label_space2_12">
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<property name="text">
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<string>Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="15" column="0">
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<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_scanMatching_17">
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<property name="text">
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<string>Force odometry poses to be 3DoF if Motion Estimation is 3DoF.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="11" column="0">
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<widget class="QCheckBox" name="loopClosure_bunlde">
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<property name="text">
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@@ -12393,20 +12422,62 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QCheckBox" name="odomGravity">
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<item row="14" column="1">
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<widget class="QLabel" name="label_scanMatching_12">
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<property name="text">
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="12" column="0">
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<widget class="QCheckBox" name="loopClosure_invertedReg">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="17" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_radius">
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<property name="suffix">
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<string> m</string>
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<item row="21" column="1">
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<widget class="QLabel" name="label_space2_19">
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<property name="text">
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<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.</string>
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</property>
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<property name="value">
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<double>1.000000000000000</double>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="20" column="1">
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<widget class="QLabel" name="label_space2_18">
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<property name="text">
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<string>Localization smoothing. Used only in localization mode. Adjust localization constraints based on optimized odometry cache poses.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_163">
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<property name="text">
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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@@ -12423,16 +12494,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="12" column="1">
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<widget class="QLabel" name="label_scanMatching_16">
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<property name="text">
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<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
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<property name="suffix">
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<string> m/s</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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@@ -12455,6 +12526,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<widget class="QLabel" name="label_scanMatching_14">
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<property name="text">
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_433">
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<property name="text">
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@@ -12468,32 +12552,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="13" column="1">
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<widget class="QLabel" name="label_scanMatching_11">
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<property name="text">
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<string>Ignore off diagonal values of the odometry covariance matrix.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="14" column="1">
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<widget class="QLabel" name="label_scanMatching_12">
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<property name="text">
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
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<property name="suffix">
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@@ -12510,6 +12568,215 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="12" column="1">
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<widget class="QLabel" name="label_scanMatching_16">
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<property name="text">
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<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
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<property name="suffix">
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<string> rad/s</string>
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</property>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="maximum">
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<double>3.140000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QCheckBox" name="odomScanHistory">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="17" column="1">
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<widget class="QLabel" name="label_space2">
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<property name="text">
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<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="17" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_radius">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="value">
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<double>1.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_scanMatching_7">
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<property name="text">
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<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>
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</property>
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<property name="wordWrap">
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||||
<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="13" column="0">
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<widget class="QCheckBox" name="memCovOffDiagIgnored">
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<property name="text">
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<string/>
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||||
</property>
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</widget>
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</item>
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<item row="16" column="1">
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<widget class="QLabel" name="label_scanMatching_5">
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<property name="text">
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<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
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<item row="5" column="1">
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<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>
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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">
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||||
<widget class="QCheckBox" name="rgbd_forceOdom3DoF">
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||||
<property name="text">
|
||||
<string/>
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||||
</property>
|
||||
</widget>
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</item>
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<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.</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">
|
||||
@@ -12536,21 +12803,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</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="9" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_identityGuess">
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="odomGravity">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -12569,125 +12823,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</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="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="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="19" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</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="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="13" column="0">
|
||||
<widget class="QCheckBox" name="memCovOffDiagIgnored">
|
||||
<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.</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_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="14" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_loopCovLimited">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
|
||||
<property name="suffix">
|
||||
@@ -12707,13 +12842,39 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_reextract">
|
||||
<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">
|
||||
@@ -12733,10 +12894,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_432">
|
||||
<item row="22" column="1">
|
||||
<widget class="QLabel" name="label_space2_21">
|
||||
<property name="text">
|
||||
<string>Maximum linear speed to update the map (0 means not limit).</string>
|
||||
<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>
|
||||
@@ -12746,149 +12907,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
|
||||
</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="20" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_localizationSmoothing">
|
||||
<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.</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="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="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="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="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="12" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_invertedReg">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</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="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="4" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_forceOdom3DoF">
|
||||
<item row="22" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_localizationSecondTryWithoutProximityLinks">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
|
||||
Reference in New Issue
Block a user