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Removed parameter "OdomF2M/FixedMapPath". GUI: added odometry disabled option. Rtabmap can now localize even if odometry input is null (only in localization mode).

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This commit is contained in:
matlabbe
2016-11-27 14:30:11 -05:00
parent 693f623e5e
commit 121446d648
15 changed files with 695 additions and 763 deletions
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3
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -130,6 +130,7 @@ public:
QString loadCustomConfig(const QString & section, const QString & key);
rtabmap::ParametersMap getAllParameters() const;
std::string getParameter(const std::string & key) const;
void updateParameters(const ParametersMap & parameters);
//General panel
@@ -149,6 +150,7 @@ public:
bool notifyWhenNewGlobalPathIsReceived() const;
int getOdomQualityWarnThr() const;
bool isPosteriorGraphView() const;
bool isOdomDisabled() const;
bool isGraphsShown() const;
bool isLabelsShown() const;
@@ -293,7 +295,6 @@ private slots:
void useOdomFeatures();
void changeWorkingDirectory();
void changeDictionaryPath();
void changeOdomBowFixedLocalMapPath();
void readSettingsEnd();
void setupTreeView();
void updateBasicParameter();

49
guilib/src/MainWindow.cpp
View File

@@ -926,7 +926,6 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(!pose.isNull() && (_ui->dockWidget_cloudViewer->isVisible() || _ui->graphicsView_graphView->isVisible()))
{
_lastOdomPose = pose;
_odometryReceived = true;
}
if(_ui->dockWidget_cloudViewer->isVisible())
@@ -1071,19 +1070,22 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
// F2M: scan local map
if(!odom.info().localScanMap.empty())
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap);
if(!_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue))
if(!lost)
{
UERROR("Adding scanMapOdom to viewer failed!");
}
else
{
_cloudViewer->setCloudVisibility("scanMapOdom", true);
_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
scanUpdated = true;
pcl::PointCloud<pcl::PointNormal>::Ptr cloud;
cloud = util3d::laserScanToPointCloudNormal(odom.info().localScanMap);
if(!_cloudViewer->addCloud("scanMapOdom", cloud, _odometryCorrection, Qt::blue))
{
UERROR("Adding scanMapOdom to viewer failed!");
}
else
{
_cloudViewer->setCloudVisibility("scanMapOdom", true);
_cloudViewer->setCloudOpacity("scanMapOdom", _preferencesDialog->getScanOpacity(1));
_cloudViewer->setCloudPointSize("scanMapOdom", _preferencesDialog->getScanPointSize(1));
}
}
scanUpdated = true;
}
// scan cloud
if(!odom.data().laserScanRaw().empty())
@@ -1117,9 +1119,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
// 3d features
if(_preferencesDialog->isFeaturesShown(1))
if(_preferencesDialog->isFeaturesShown(1) && !odom.info().localMap.empty())
{
if(!odom.info().localMap.empty())
if(!lost)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
cloud->resize(odom.info().localMap.size());
@@ -1140,9 +1142,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_cloudViewer->addCloud("featuresOdom", cloud, _odometryCorrection);
_cloudViewer->setCloudVisibility("featuresOdom", true);
_cloudViewer->setCloudPointSize("featuresOdom", _preferencesDialog->getFeaturesPointSize(1));
featuresUpdated = true;
}
featuresUpdated = true;
}
}
if(!dataIgnored)
@@ -1168,6 +1169,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if(!odom.pose().isNull())
{
_odometryReceived = true;
// update camera position
_cloudViewer->updateCameraTargetPosition(_odometryCorrection*odom.pose());
@@ -1434,7 +1436,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
signature = stat.getSignatures().at(stat.refImageId());
signature.sensorData().uncompressData(); // make sure data are uncompressed
if(!smallMovement)
if(!smallMovement && uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())))
{
_cachedSignatures.insert(signature.id(), signature);
_cachedMemoryUsage += signature.sensorData().getMemoryUsed();
@@ -2456,7 +2458,7 @@ void MainWindow::updateMapCloud(
UDEBUG("");
_cloudViewer->setCloudVisibility("scanMapOdom", false);
}
else
else if(_cloudViewer->getBackgroundColor() != Qt::darkRed) // not lost
{
UDEBUG("");
_cloudViewer->updateCloudPose("scanMapOdom", _odometryCorrection);
@@ -2471,7 +2473,7 @@ void MainWindow::updateMapCloud(
UDEBUG("");
_cloudViewer->setCloudVisibility("featuresOdom", false);
}
else
else if(_cloudViewer->getBackgroundColor() != Qt::darkRed) // not lost
{
UDEBUG("");
_cloudViewer->updateCloudPose("featuresOdom", _odometryCorrection);
@@ -4236,7 +4238,7 @@ void MainWindow::startDetection()
_odomThread = 0;
}
if(!camera->odomProvided())
if(!camera->odomProvided() && !_preferencesDialog->isOdomDisabled())
{
Odometry * odom = Odometry::create(parameters);
_odomThread = new OdometryThread(odom, _preferencesDialog->getOdomBufferSize());
@@ -4282,6 +4284,13 @@ void MainWindow::startDetection()
_occupancyGrid->clear();
_occupancyGrid->parseParameters(parameters);
// clear odometry visual stuff
_cloudViewer->removeCloud("cloudOdom");
_cloudViewer->removeCloud("scanOdom");
_cloudViewer->removeCloud("scanMapOdom");
_cloudViewer->removeCloud("featuresOdom");
_cloudViewer->setBackgroundColor(_cloudViewer->getDefaultBackgroundColor());
emit stateChanged(kDetecting);
}

47
guilib/src/PreferencesDialog.cpp
View File

@@ -291,6 +291,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_notifyWhenNewGlobalPathIsReceived, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkbox_odomDisabled, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
// Cloud rendering panel
_3dRenderingShowClouds.resize(2);
@@ -842,8 +843,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_odom_f2m_maxNewFeatures->setObjectName(Parameters::kOdomF2MMaxNewFeatures().c_str());
_ui->spinBox_odom_f2m_scanMaxSize->setObjectName(Parameters::kOdomF2MScanMaxSize().c_str());
_ui->doubleSpinBox_odom_f2m_scanRadius->setObjectName(Parameters::kOdomF2MScanSubtractRadius().c_str());
_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomF2MFixedMapPath().c_str());
connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath()));
_ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str());
_ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str());
@@ -1212,6 +1211,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_imageHighestHypShown->setChecked(false);
_ui->spinBox_odomQualityWarnThr->setValue(50);
_ui->checkBox_posteriorGraphView->setChecked(true);
_ui->checkbox_odomDisabled->setChecked(false);
}
else if(groupBox->objectName() == _ui->groupBox_cloudRendering1->objectName())
{
@@ -1594,6 +1594,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(settings.value("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()).toBool());
_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());
_ui->checkbox_odomDisabled->setChecked(settings.value("odomDisabled", _ui->checkbox_odomDisabled->isChecked()).toBool());
for(int i=0; i<2; ++i)
{
@@ -1971,6 +1972,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked());
settings.setValue("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value());
settings.setValue("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked());
settings.setValue("odomDisabled", _ui->checkbox_odomDisabled->isChecked());
for(int i=0; i<2; ++i)
{
@@ -2388,6 +2390,15 @@ bool PreferencesDialog::validateForm()
_ui->fastThresholdMin->setValue(_ui->fastThreshold->value());
}
if(_ui->checkbox_odomDisabled->isChecked() &&
_ui->general_checkBox_SLAM_mode->isChecked() &&
_ui->general_checkBox_activateRGBD->isChecked())
{
QMessageBox::warning(this, tr("Parameter warning"),
tr("Odometry is disabled but incremental RGB-D SLAM is activated! Re-enabling odometry."));
_ui->checkbox_odomDisabled->setChecked(false);
}
return true;
}
@@ -2699,6 +2710,17 @@ rtabmap::ParametersMap PreferencesDialog::getAllParameters() const
return parameters;
}
std::string PreferencesDialog::getParameter(const std::string & key) const
{
if(_modifiedParameters.find(key) != _modifiedParameters.end())
{
return _modifiedParameters.at(key);
}
UASSERT(_parameters.find(key) != _parameters.end());
return _parameters.at(key);
}
void PreferencesDialog::updateParameters(const ParametersMap & parameters)
{
if(parameters.size())
@@ -3642,23 +3664,6 @@ void PreferencesDialog::changeDictionaryPath()
}
}
void PreferencesDialog::changeOdomBowFixedLocalMapPath()
{
QString path;
if(_ui->odom_fixedLocalMapPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Database"), this->getWorkingDirectory(), tr("RTAB-Map database files (*.db)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Database"), _ui->odom_fixedLocalMapPath->text(), tr("RTAB-Map database files (*.db)"));
}
if(!path.isEmpty())
{
_ui->odom_fixedLocalMapPath->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);
@@ -3776,6 +3781,10 @@ bool PreferencesDialog::isPosteriorGraphView() const
{
return _ui->checkBox_posteriorGraphView->isChecked();
}
bool PreferencesDialog::isOdomDisabled() const
{
return _ui->checkbox_odomDisabled->isChecked();
}
bool PreferencesDialog::isCloudsShown(int index) const
{

357
guilib/src/ui/preferencesDialog.ui
View File

@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>4</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -98,6 +98,42 @@
<layout class="QVBoxLayout" name="verticalLayout_28">
<item>
<layout class="QGridLayout" name="gridLayout_39" columnstretch="0,1">
<item row="3" column="1">
<widget class="QLabel" name="label_247">
<property name="text">
<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>
</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_notifyWhenNewGlobalPathIsReceived">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" 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>
</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_imagesKept">
<property name="text">
@@ -121,19 +157,6 @@
</property>
</widget>
</item>
<item row="1" 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>
</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_cloudsKept">
<property name="text">
@@ -177,16 +200,6 @@
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_stamps">
<property name="text">
@@ -194,19 +207,6 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_247">
<property name="text">
<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>
</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_342">
<property name="text">
@@ -227,6 +227,26 @@
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_239">
<property name="text">
<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>
</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_odomDisabled">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -2423,7 +2443,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>0</number>
<number>2</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3970,6 +3990,19 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<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">
@@ -3992,25 +4025,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</widget>
</item>
<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>
</layout>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_image">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_7">
<layout class="QVBoxLayout" name="verticalLayout_30">
@@ -7387,7 +7407,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<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 the graph and TORO optimizes the graph.</string>
<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>
@@ -9035,19 +9055,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
<item>
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
<item row="8" 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>0.500000000000000</double>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="odom_flow_guessMotion">
<property name="text">
@@ -9055,26 +9062,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_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="5" column="0">
<widget class="QCheckBox" name="odom_fillInfoData">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_103">
<property name="text">
@@ -9088,13 +9075,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="odom_holonomic">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QSpinBox" name="odom_dataBufferSize">
<property name="maximum">
@@ -9102,19 +9082,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" 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="0" column="0">
<widget class="QComboBox" name="odom_strategy">
<property name="sizeAdjustPolicy">
@@ -9178,10 +9145,59 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="odom_countdown">
<item row="7" column="1">
<widget class="QLabel" name="label_248">
<property name="text">
<string>Decimation of images 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>
</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="odom_imageDecimation">
<property name="minimum">
<number>-32</number>
</property>
<property name="maximum">
<number>999999</number>
<number>32</number>
</property>
</widget>
</item>
<item row="1" 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="1" column="0">
<widget class="QCheckBox" name="odom_alignWithGround">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" 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>
@@ -9246,6 +9262,46 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" 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>0.500000000000000</double>
</property>
</widget>
</item>
<item row="4" 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="5" column="0">
<widget class="QCheckBox" name="odom_fillInfoData">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="odom_holonomic">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="odom_flow_scanKeyframeThr">
<property name="maximum">
@@ -9259,46 +9315,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_248">
<property name="text">
<string>Decimation of images 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>
</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="odom_imageDecimation">
<property name="minimum">
<number>-32</number>
</property>
<item row="2" column="0">
<widget class="QSpinBox" name="odom_countdown">
<property name="maximum">
<number>32</number>
</property>
</widget>
</item>
<item row="1" 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="1" column="0">
<widget class="QCheckBox" name="odom_alignWithGround">
<property name="text">
<string/>
<number>999999</number>
</property>
</widget>
</item>
@@ -9331,7 +9351,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,0,1">
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,1">
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_odom_f2m_maxNewFeatures">
<property name="minimum">
@@ -9348,7 +9368,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="2">
<item row="3" 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>
@@ -9361,7 +9381,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="2">
<item row="2" column="1">
<widget class="QLabel" name="label_195">
<property name="text">
<string>[Geometry] Maximum local scan map size (points).</string>
@@ -9374,23 +9394,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLineEdit" name="odom_fixedLocalMapPath"/>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_239">
<property name="text">
<string>Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP pose estimation is activated.</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">
<item row="0" column="1">
<widget class="QLabel" name="label_190">
<property name="text">
<string>[Visual] Maximum map size: If &gt; 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>
@@ -9419,14 +9423,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QToolButton" name="toolButton_odomBowFixedLocalMap">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="1" column="2">
<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>
@@ -9459,7 +9456,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="2">
<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>
@@ -9472,7 +9469,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="2">
<item row="5" 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>
@@ -9485,7 +9482,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<item row="4" column="0">
<widget class="QComboBox" name="odom_f2m_bundleStrategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -9507,7 +9504,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item row="6" column="0">
<item row="5" column="0">
<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
<property name="maximum">
<number>999999</number>