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0.13.0 Database: Added velocity field to Node table, renamed Map_Node_Word table to Feature, added information_matrix field to Link table (replacing rot_variance and trans_variance). Added graph::calcKittiSequenceErrors().Added "Mem/IntermediateNodeDataKept" parameter (default false). Updated all interfaces using rotVariance and transVariance values with covariance matrix instead. g2o SBA: always use covariance in links. kitti-dataset tool: added --disp option and kitti statistics are shown at the end. StatsToolBox: units can have "/".

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This commit is contained in:
matlabbe
2017-05-04 16:13:45 -04:00
parent 414e3555a5
commit 104c1e6945
45 changed files with 1539 additions and 1148 deletions
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15
guilib/include/rtabmap/gui/DatabaseViewer.h
View File

@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_types.h>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/Signature.h>
class Ui_DatabaseViewer;
class QGraphicsScene;
@@ -88,9 +89,12 @@ private slots:
void generateGraph();
void exportDatabase();
void extractImages();
void exportPosesRaw();
void exportPosesRGBDSLAM();
void exportPosesKITTI();
void exportPosesTORO();
void exportPosesG2O();
void generateLocalGraph();
void generateTOROGraph();
void generateG2OGraph();
void regenerateLocalMaps();
void regenerateCurrentLocalMaps();
void view3DMap();
@@ -145,10 +149,8 @@ private:
void updateConstraintView(
const rtabmap::Link & link,
bool updateImageSliders = true,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudFrom = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloudTo = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & scanFrom = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>),
const pcl::PointCloud<pcl::PointXYZ>::Ptr & scanTo = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>));
const Signature & signatureFrom = Signature(0),
const Signature & signatureTo = Signature(0));
void updateConstraintButtons();
Link findActiveLink(int from, int to);
bool containsLink(
@@ -160,6 +162,7 @@ private:
void updateLoopClosuresSlider(int from = 0, int to = 0);
void refineConstraint(int from, int to, bool silent);
bool addConstraint(int from, int to, bool silent);
void exportPoses(int format);
private:
Ui_DatabaseViewer * ui_;

860
guilib/src/DatabaseViewer.cpp
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File diff suppressed because it is too large Load Diff

31
guilib/src/MainWindow.cpp
View File

@@ -811,10 +811,12 @@ bool MainWindow::handleEvent(UEvent* anEvent)
emit cameraInfoReceived(cameraEvent->info());
if (_odomThread == 0 && _camera->camera()->odomProvided() && _preferencesDialog->isRGBDMode())
{
OdometryInfo odomInfo;
odomInfo.covariance = cameraEvent->info().odomCovariance;
if (!_processingOdometry && !_processingStatistics)
{
_processingOdometry = true; // if we receive too many odometry events!
OdometryEvent tmp(cameraEvent->data(), cameraEvent->info().odomPose, cameraEvent->info().odomCovariance);
OdometryEvent tmp(cameraEvent->data(), cameraEvent->info().odomPose, odomInfo);
emit odometryReceived(tmp, false);
}
else
@@ -824,7 +826,7 @@ bool MainWindow::handleEvent(UEvent* anEvent)
data.setCameraModels(cameraEvent->data().cameraModels());
data.setStereoCameraModel(cameraEvent->data().stereoCameraModel());
data.setGroundTruth(cameraEvent->data().groundTruth());
OdometryEvent tmp(data, cameraEvent->info().odomPose, cameraEvent->info().odomCovariance);
OdometryEvent tmp(data, cameraEvent->info().odomPose, odomInfo);
emit odometryReceived(tmp, true);
}
}
@@ -845,7 +847,7 @@ bool MainWindow::handleEvent(UEvent* anEvent)
data.setCameraModels(odomEvent->data().cameraModels());
data.setStereoCameraModel(odomEvent->data().stereoCameraModel());
data.setGroundTruth(odomEvent->data().groundTruth());
OdometryEvent tmp(data, odomEvent->pose(), odomEvent->covariance(), odomEvent->info().copyWithoutData());
OdometryEvent tmp(data, odomEvent->pose(), odomEvent->info().copyWithoutData());
emit odometryReceived(tmp, true);
}
}
@@ -1302,10 +1304,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().icpInliersRatio, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().matches, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/MatchesRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().features<=0?0.0f:float(odom.info().matches)/float(odom.info().features), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDevLin/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().varianceLin), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceLin/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().varianceLin, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDevAng/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().varianceAng), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceAng/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().varianceAng, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDevLin/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().covariance.at<double>(0,0)), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceLin/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().covariance.at<double>(0,0), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDevAng/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().covariance.at<double>(5,5)), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/VarianceAng/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().covariance.at<double>(5,5), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeEstimation*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeParticleFiltering*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Features/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().features, _preferencesDialog->isCacheSavedInFigures());
@@ -5068,10 +5070,11 @@ void MainWindow::postProcessing()
if(!transform.isIdentity())
{
// normalize variance
info.varianceLin *= transform.getNorm();
info.varianceAng *= transform.getAngle();
info.varianceLin = info.varianceLin>0.0f?info.varianceLin:0.0001f; // epsilon if exact transform
info.varianceAng = info.varianceAng>0.0f?info.varianceAng:0.0001f; // epsilon if exact transform
info.covariance *= transform.getNorm();
if(info.covariance.at<double>(0,0)<=0.0)
{
info.covariance = cv::Mat::eye(6,6,CV_64FC1)*0.0001; // epsilon if exact transform
}
}
//optimize the graph to see if the new constraint is globally valid
@@ -5090,7 +5093,7 @@ void MainWindow::postProcessing()
}
}
std::multimap<int, Link> linksIn = _currentLinksMap;
linksIn.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.varianceAng, info.varianceLin)));
linksIn.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.covariance.inv())));
const Link * maxLinearLink = 0;
const Link * maxAngularLink = 0;
float maxLinearError = 0.0f;
@@ -5186,7 +5189,7 @@ void MainWindow::postProcessing()
addedLinks.insert(from);
addedLinks.insert(to);
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.varianceAng, info.varianceLin)));
_currentLinksMap.insert(std::make_pair(from, Link(from, to, Link::kUserClosure, transform, info.covariance.inv())));
++loopClosuresAdded;
_initProgressDialog->appendText(tr("Detected loop closure %1->%2! (%3/%4)").arg(from).arg(to).arg(i+1).arg(clusters.size()));
QApplication::processEvents();
@@ -5282,7 +5285,7 @@ void MainWindow::postProcessing()
if(!transform.isNull())
{
Link newLink(from, to, iter->second.type(), transform, info.varianceAng, info.varianceLin);
Link newLink(from, to, iter->second.type(), transform, info.covariance.inv());
iter->second = newLink;
}
else

1
guilib/src/PreferencesDialog.cpp
View File

@@ -613,6 +613,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Memory
_ui->general_checkBox_keepRawData->setObjectName(Parameters::kMemImageKept().c_str());
_ui->general_checkBox_keepBinaryData->setObjectName(Parameters::kMemBinDataKept().c_str());
_ui->general_checkBox_saveIntermediateNodeData->setObjectName(Parameters::kMemIntermediateNodeDataKept().c_str());
_ui->general_checkBox_keepDescriptors->setObjectName(Parameters::kMemRawDescriptorsKept().c_str());
_ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str());
_ui->general_checkBox_compressionParallelized->setObjectName(Parameters::kMemCompressionParallelized().c_str());

4
guilib/src/StatsToolBox.cpp
View File

@@ -319,6 +319,10 @@ void StatsToolBox::updateStat(const QString & statFullName, const std::vector<fl
grp = list.at(0);
name = list.at(1);
unit = list.at(2);
for(int i=3; i<list.size(); ++i)
{
unit += "/" + list.at(i);
}
}
else if(list.size() == 2)
{

90
guilib/src/ui/DatabaseViewer.ui
View File

@@ -52,8 +52,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>381</width>
<height>196</height>
<width>408</width>
<height>208</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -210,8 +210,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>381</width>
<height>196</height>
<width>408</width>
<height>208</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -484,13 +484,23 @@
<x>0</x>
<y>0</y>
<width>1547</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
<property name="title">
<string>File</string>
</property>
<widget class="QMenu" name="menuExport_poses">
<property name="title">
<string>Export poses...</string>
</property>
<addaction name="actionRaw_format_txt"/>
<addaction name="actionRGBD_SLAM_format_txt"/>
<addaction name="actionKITTI_format_txt"/>
<addaction name="actionTORO_graph"/>
<addaction name="actionG2o_g2o"/>
</widget>
<addaction name="actionOpen_database"/>
<addaction name="separator"/>
<addaction name="actionSave_config"/>
@@ -499,6 +509,7 @@
<addaction name="actionExport_3D_laser_scans_ply_pcd"/>
<addaction name="actionExport"/>
<addaction name="actionExtract_images"/>
<addaction name="menuExport_poses"/>
<addaction name="separator"/>
<addaction name="actionQuit"/>
</widget>
@@ -508,8 +519,6 @@
</property>
<addaction name="actionGenerate_graph_dot"/>
<addaction name="actionGenerate_local_graph_dot"/>
<addaction name="actionGenerate_TORO_graph_graph"/>
<addaction name="actionGenerate_g2o_graph_g2o"/>
<addaction name="separator"/>
<addaction name="actionDetect_more_loop_closures"/>
<addaction name="actionRefine_all_neighbor_links"/>
@@ -1010,8 +1019,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>339</width>
<height>186</height>
<width>324</width>
<height>188</height>
</rect>
</property>
<attribute name="label">
@@ -1146,8 +1155,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>326</width>
<height>609</height>
<width>280</width>
<height>666</height>
</rect>
</property>
<attribute name="label">
@@ -1509,8 +1518,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>339</width>
<height>173</height>
<width>201</width>
<height>126</height>
</rect>
</property>
<attribute name="label">
@@ -1609,8 +1618,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>326</width>
<height>249</height>
<width>186</width>
<height>496</height>
</rect>
</property>
<attribute name="label">
@@ -2155,11 +2164,6 @@
<string>View 3D map...</string>
</property>
</action>
<action name="actionGenerate_TORO_graph_graph">
<property name="text">
<string>Generate TORO graph (*.graph)...</string>
</property>
</action>
<action name="actionRefine_all_neighbor_links">
<property name="text">
<string>Refine all neighbor links...</string>
@@ -2191,11 +2195,6 @@
<string>Reset link and grid map changes</string>
</property>
</action>
<action name="actionGenerate_g2o_graph_g2o">
<property name="text">
<string>Generate g2o graph (*.g2o)...</string>
</property>
</action>
<action name="actionView_3D_laser_scans">
<property name="text">
<string>View 2D-3D laser scans...</string>
@@ -2237,17 +2236,48 @@
<string>Restore default GUI settings</string>
</property>
</action>
<action name="actionRaw_format_txt">
<property name="text">
<string>Raw format (*.txt)</string>
</property>
</action>
<action name="actionRGBD_SLAM_format_txt">
<property name="text">
<string>RGBD-SLAM format (*.txt)</string>
</property>
</action>
<action name="actionKITTI_format_txt">
<property name="text">
<string>KITTI format (*.txt)</string>
</property>
</action>
<action name="actionTORO_graph">
<property name="text">
<string>TORO (*.graph)</string>
</property>
</action>
<action name="actionG2o_g2o">
<property name="text">
<string>g2o (*.g2o)</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>
<class>rtabmap::ImageView</class>
<extends>QWidget</extends>
<header>rtabmap/gui/ImageView.h</header>
<header>../include/rtabmap/gui/ImageView.h</header>
</customwidget>
<customwidget>
<class>rtabmap::StatsToolBox</class>
<extends>QWidget</extends>
<header>../include/rtabmap/gui/StatsToolBox.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>rtabmap::GraphViewer</class>
<extends>QGraphicsView</extends>
<header>rtabmap/gui/GraphViewer.h</header>
<header>../include/rtabmap/gui/GraphViewer.h</header>
</customwidget>
<customwidget>
<class>rtabmap::ParametersToolBox</class>
@@ -2255,12 +2285,6 @@
<header>ParametersToolBox.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>rtabmap::StatsToolBox</class>
<extends>QWidget</extends>
<header>rtabmap/gui/StatsToolBox.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>

354
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-667</y>
<width>673</width>
<height>2718</height>
<height>2747</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>13</number>
<number>18</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -6124,7 +6124,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
<property name="minimumSize">
<size>
@@ -6140,7 +6140,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_retrieved_12">
<property name="text">
<string>Raw descriptors kept in memory.</string>
@@ -6153,7 +6153,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
<property name="text">
<string/>
@@ -6163,7 +6163,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="1">
<item row="14" column="1">
<widget class="QLabel" name="label_retrieved_13">
<property name="text">
<string>Image pre decimation. This option can be used to reduce image size before features extraction. 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>
@@ -6222,7 +6222,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" 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>
@@ -6235,7 +6235,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="14" column="0">
<item row="15" column="0">
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
<property name="minimum">
<number>-16</number>
@@ -6281,7 +6281,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
<string>Image post decimation. This option can be used to save images in lower resolution (size/decimation). It is done on the original image. 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>
@@ -6307,7 +6307,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="15" column="1">
<item row="16" column="1">
<widget class="QLabel" name="label_retrieved_8">
<property name="text">
<string>If &gt; 1, downsample the laser scans when creating a location. This feature can be used to save laser scans already downsampled.</string>
@@ -6320,7 +6320,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="0">
<item row="12" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
<property name="text">
<string/>
@@ -6330,7 +6330,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="13" column="0">
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
<property name="minimum">
<number>-16</number>
@@ -6340,7 +6340,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="16" column="0">
<item row="17" column="0">
<widget class="QSpinBox" name="general_spinBox_laserScanNormalK">
<property name="minimumSize">
<size>
@@ -6359,7 +6359,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="16" column="1">
<item row="17" column="1">
<widget class="QLabel" name="label_retrieved_14">
<property name="text">
<string>If &gt; 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.</string>
@@ -6372,7 +6372,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QLabel" name="label_retrieved_15">
<property name="text">
<string>Multi-threaded compression.</string>
@@ -6385,7 +6385,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="12" column="0">
<item row="13" column="0">
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
<property name="text">
<string/>
@@ -6395,6 +6395,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" 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="10" column="0">
<widget class="QCheckBox" name="general_checkBox_saveIntermediateNodeData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -10058,7 +10081,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="4" column="1">
<widget class="QLabel" name="label_357">
<property name="text">
<string>[Visual] Local bundle adjustment. See Optimizer panel. This will not work with Optical Flow correspondences strategy is selected in Visual Registration panel.</string>
<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>
@@ -12299,153 +12322,166 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="title">
<string>g2o</string>
</property>
<layout class="QGridLayout" name="gridLayout_70" columnstretch="0,1">
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_g2o_optimizer">
<item>
<property name="text">
<string>Levenberg</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>
<property name="text">
<string>Gauss Newton</string>
</property>
<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>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_g2o_solver">
<item>
<property name="text">
<string>CSparse</string>
</property>
<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>
<property name="text">
<string>PCG</string>
</property>
<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>
<item>
<property name="text">
<string>Cholmod</string>
</property>
</item>
<item>
<property name="text">
<string>Eigen</string>
</property>
</item>
</widget>
</layout>
</item>
<item row="2" 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="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="1">
<widget class="QLabel" name="label_138">
<property name="text">
<string>Optimization algorithm.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_148">
<property name="text">
<string>Pixel variance used for bundle adjustment.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" 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="3" 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="4" 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="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>
<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="0" 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="0" column="1">
<widget class="QLabel" name="label_148">
<property name="text">
<string>Pixel variance used for bundle adjustment.</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="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="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="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>
</layout>
</widget>
</item>
</layout>