i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-12 06:20:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters

Browse Source
This commit is contained in:
matlabbe
2017-09-28 13:34:55 -04:00
parent 44d1877892
commit 1220eab47a
13 changed files with 277 additions and 130 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/CameraInfo.h
+1
View File
@@ -66,6 +66,7 @@ public:
float timeTotal;
Transform odomPose;
cv::Mat odomCovariance;
std::vector<float> odomVelocity;
};
} // namespace rtabmap
corelib/include/rtabmap/core/Parameters.h
+4 -2
View File
@@ -316,8 +316,10 @@ class RTABMAP_EXP Parameters
// RGB-D SLAM
RTABMAP_PARAM(RGBD, Enabled, bool, true, "");
RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, "Minimum linear displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, "Minimum angular displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, "Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, "Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
RTABMAP_PARAM(RGBD, OptimizeMaxError, float, 1, uFormat("Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"%s\" if enabled.", kOptimizerRobust().c_str()));
corelib/include/rtabmap/core/Rtabmap.h
+2
View File
@@ -225,6 +225,8 @@ private:
bool _rgbdSlamMode;
float _rgbdLinearUpdate;
float _rgbdAngularUpdate;
float _rgbdLinearSpeedUpdate;
float _rgbdAngularSpeedUpdate;
float _newMapOdomChangeDistance;
bool _neighborLinkRefining;
bool _proximityByTime;
corelib/include/rtabmap/core/Statistics.h
+1
View File
@@ -98,6 +98,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Rehearsal_merged,);
RTABMAP_STATS(Memory, Local_graph_size,);
RTABMAP_STATS(Memory, Small_movement,);
RTABMAP_STATS(Memory, Fast_movement,);
RTABMAP_STATS(Memory, Odometry_variance_ang,);
RTABMAP_STATS(Memory, Odometry_variance_lin,);
RTABMAP_STATS(Memory, Distance_travelled, m);
corelib/src/DBReader.cpp
+1
View File
@@ -456,6 +456,7 @@ SensorData DBReader::getNextData(CameraInfo * info)
{
info->odomPose = pose;
info->odomCovariance = infMatrix.inv();
info->odomVelocity = velocity;
UDEBUG("odom variance = %f/%f", info->odomCovariance.at<double>(0,0), info->odomCovariance.at<double>(5,5));
}
}
corelib/src/Rtabmap.cpp
+47 -27
View File
@@ -93,6 +93,8 @@ Rtabmap::Rtabmap() :
_rgbdSlamMode(Parameters::defaultRGBDEnabled()),
_rgbdLinearUpdate(Parameters::defaultRGBDLinearUpdate()),
_rgbdAngularUpdate(Parameters::defaultRGBDAngularUpdate()),
_rgbdLinearSpeedUpdate(Parameters::defaultRGBDLinearSpeedUpdate()),
_rgbdAngularSpeedUpdate(Parameters::defaultRGBDAngularSpeedUpdate()),
_newMapOdomChangeDistance(Parameters::defaultRGBDNewMapOdomChangeDistance()),
_neighborLinkRefining(Parameters::defaultRGBDNeighborLinkRefining()),
_proximityByTime(Parameters::defaultRGBDProximityByTime()),
@@ -409,6 +411,8 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDEnabled(), _rgbdSlamMode);
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rgbdLinearUpdate);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rgbdAngularUpdate);
Parameters::parse(parameters, Parameters::kRGBDLinearSpeedUpdate(), _rgbdLinearSpeedUpdate);
Parameters::parse(parameters, Parameters::kRGBDAngularSpeedUpdate(), _rgbdAngularSpeedUpdate);
Parameters::parse(parameters, Parameters::kRGBDNewMapOdomChangeDistance(), _newMapOdomChangeDistance);
Parameters::parse(parameters, Parameters::kRGBDNeighborLinkRefining(), _neighborLinkRefining);
Parameters::parse(parameters, Parameters::kRGBDProximityByTime(), _proximityByTime);
@@ -436,6 +440,8 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
UASSERT(_rgbdLinearUpdate >= 0.0f);
UASSERT(_rgbdAngularUpdate >= 0.0f);
UASSERT(_rgbdLinearSpeedUpdate >= 0.0f);
UASSERT(_rgbdAngularSpeedUpdate >= 0.0f);
// By default, we create our strategies if they are not already created.
// If they already exists, we check the parameters if a change is requested
@@ -1008,6 +1014,7 @@ bool Rtabmap::process(
// Metric
//============================================================
bool smallDisplacement = false;
bool tooFastMovement = false;
std::list<int> signaturesRemoved;
if(_rgbdSlamMode)
{
@@ -1020,35 +1027,46 @@ bool Rtabmap::process(
{
_optimizedPoses.erase(rehearsedId);
}
else if(signature->getWeight() >= 0 && _rgbdLinearUpdate > 0.0f && _rgbdAngularUpdate > 0.0f)
else if(signature->getWeight() >= 0)
{
//============================================================
// Minimum displacement required to add to Memory
//============================================================
const std::map<int, Link> & links = signature->getLinks();
if(links.size() && links.begin()->second.type() == Link::kNeighbor)
if(_rgbdLinearUpdate > 0.0f && _rgbdAngularUpdate > 0.0f)
{
// don't do this if there are intermediate nodes
const Signature * s = _memory->getSignature(links.begin()->second.to());
UASSERT(s!=0);
if(s->getWeight() >= 0)
//============================================================
// Minimum displacement required to add to Memory
//============================================================
const std::map<int, Link> & links = signature->getLinks();
if(links.size() && links.begin()->second.type() == Link::kNeighbor)
{
float x,y,z, roll,pitch,yaw;
links.begin()->second.transform().getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw);
bool isMoving = fabs(x) > _rgbdLinearUpdate ||
fabs(y) > _rgbdLinearUpdate ||
fabs(z) > _rgbdLinearUpdate ||
fabs(roll) > _rgbdAngularUpdate ||
fabs(pitch) > _rgbdAngularUpdate ||
fabs(yaw) > _rgbdAngularUpdate;
if(!isMoving)
// don't do this if there are intermediate nodes
const Signature * s = _memory->getSignature(links.begin()->second.to());
UASSERT(s!=0);
if(s->getWeight() >= 0)
{
// This will disable global loop closure detection, only retrieval will be done.
// The location will also be deleted at the end.
smallDisplacement = true;
float x,y,z, roll,pitch,yaw;
links.begin()->second.transform().getTranslationAndEulerAngles(x,y,z, roll,pitch,yaw);
bool isMoving = fabs(x) > _rgbdLinearUpdate ||
fabs(y) > _rgbdLinearUpdate ||
fabs(z) > _rgbdLinearUpdate ||
fabs(roll) > _rgbdAngularUpdate ||
fabs(pitch) > _rgbdAngularUpdate ||
fabs(yaw) > _rgbdAngularUpdate;
if(!isMoving)
{
// This will disable global loop closure detection, only retrieval will be done.
// The location will also be deleted at the end.
smallDisplacement = true;
}
}
}
}
if(odomVelocity.size() == 6)
{
// This will disable global loop closure detection, only retrieval will be done.
// The location will also be deleted at the end.
tooFastMovement =
(_rgbdLinearSpeedUpdate>0.0f && uMax3(fabs(odomVelocity[0]), fabs(odomVelocity[1]), fabs(odomVelocity[2])) > _rgbdLinearSpeedUpdate) ||
(_rgbdAngularSpeedUpdate>0.0f && uMax3(fabs(odomVelocity[3]), fabs(odomVelocity[4]), fabs(odomVelocity[5])) > _rgbdAngularSpeedUpdate);
}
}
// Update optimizedPoses with the newly added node
@@ -1293,8 +1311,8 @@ bool Rtabmap::process(
// Bayes filter update
//============================================================
int previousId = signature->getLinks().size() && signature->getLinks().begin()->first!=signature->id()?signature->getLinks().begin()->first:0;
// Not a bad signature, not an intermediate node, not a small displacement unless the previous signature didn't have a loop closure
if(!signature->isBadSignature() && signature->getWeight()>=0 && (!smallDisplacement || _memory->getLoopClosureLinks(previousId, false).size() == 0))
// Not a bad signature, not an intermediate node, not a small displacement unless the previous signature didn't have a loop closure, not too fast movement
if(!signature->isBadSignature() && signature->getWeight()>=0 && (!smallDisplacement || _memory->getLoopClosureLinks(previousId, false).size() == 0) && !tooFastMovement)
{
// If the working memory is empty, don't do the detection. It happens when it
// is the first time the detector is started (there needs some images to
@@ -1436,7 +1454,7 @@ bool Rtabmap::process(
}
} // if(_memory->getWorkingMemSize())
}// !isBadSignature
else if(!signature->isBadSignature() && smallDisplacement)
else if(!signature->isBadSignature() && (smallDisplacement || tooFastMovement))
{
_highestHypothesis = lastHighestHypothesis;
}
@@ -1878,7 +1896,8 @@ bool Rtabmap::process(
// closures if we are already localized by a global closure.
// don't do it if it is a small displacement unless the previous signature didn't have a loop closure
if(!smallDisplacement || _memory->getLoopClosureLinks(previousId, false).size() == 0)
// don't do it if there is a too fast movement
if((!smallDisplacement || _memory->getLoopClosureLinks(previousId, false).size() == 0) && !tooFastMovement)
{
//============================================================
@@ -2404,6 +2423,7 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kMemorySmall_movement(), smallDisplacement?1.0f:0);
statistics_.addStatistic(Statistics::kMemoryDistance_travelled(), _distanceTravelled);
statistics_.addStatistic(Statistics::kMemoryFast_movement(), tooFastMovement?1.0f:0);
if(_publishLikelihood || _publishPdf)
{
@@ -2471,7 +2491,7 @@ bool Rtabmap::process(
signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(signature->id());
}
else if(smallDisplacement && _loopClosureHypothesis.first == 0 && lastProximitySpaceClosureId == 0)
else if((smallDisplacement || tooFastMovement) && _loopClosureHypothesis.first == 0 && lastProximitySpaceClosureId == 0)
{
// Don't delete the location if a loop closure is detected
UINFO("Ignoring location %d because the displacement is too small! (d=%f a=%f)",
corelib/src/RtabmapThread.cpp
+11
View File
@@ -337,6 +337,17 @@ bool RtabmapThread::handleEvent(UEvent* event)
{
OdometryInfo infoCov;
infoCov.reg.covariance = e->info().odomCovariance;
if(e->info().odomVelocity.size() == 6)
{
infoCov.transform = Transform(
e->info().odomVelocity[0],
e->info().odomVelocity[1],
e->info().odomVelocity[2],
e->info().odomVelocity[3],
e->info().odomVelocity[4],
e->info().odomVelocity[5]);
infoCov.interval = 1.0;
}
this->addData(OdometryEvent(e->data(), e->info().odomPose, infoCov));
}
else
guilib/include/rtabmap/gui/DatabaseViewer.h
+1
View File
@@ -144,6 +144,7 @@ private:
QLabel * labelId,
QLabel * labelMapId,
QLabel * labelPose,
QLabel * labelVelocity,
QLabel * labeCalib,
QLabel * labelGps,
bool updateConstraintView);
guilib/src/DatabaseViewer.cpp
+10
View File
@@ -2568,6 +2568,7 @@ void DatabaseViewer::sliderAValueChanged(int value)
ui_->label_idA,
ui_->label_mapA,
ui_->label_poseA,
ui_->label_velA,
ui_->label_calibA,
ui_->label_gpsA,
true);
@@ -2586,6 +2587,7 @@ void DatabaseViewer::sliderBValueChanged(int value)
ui_->label_idB,
ui_->label_mapB,
ui_->label_poseB,
ui_->label_velB,
ui_->label_calibB,
ui_->label_gpsB,
true);
@@ -2602,6 +2604,7 @@ void DatabaseViewer::update(int value,
QLabel * labelId,
QLabel * labelMapId,
QLabel * labelPose,
QLabel * labelVelocity,
QLabel * labelCalib,
QLabel * labelGps,
bool updateConstraintView)
@@ -2614,6 +2617,7 @@ void DatabaseViewer::update(int value,
label->clear();
labelMapId->clear();
labelPose->clear();
labelVelocity->clear();
stamp->clear();
labelCalib->clear();
labelGps->clear();
@@ -2679,6 +2683,10 @@ void DatabaseViewer::update(int value,
stamp->setText(QString::number(s, 'f'));
stamp->setToolTip(QDateTime::fromMSecsSinceEpoch(s*1000.0).toString("dd.MM.yyyy hh:mm:ss.zzz"));
}
if(v.size()==6)
{
labelVelocity->setText(QString("vx=%1 vy=%2 vz=%3 vroll=%4 vpitch=%5 vyaw=%6").arg(v[0]).arg(v[1]).arg(v[2]).arg(v[3]).arg(v[4]).arg(v[5]));
}
if(gps.stamp()>0.0)
{
labelGps->setText(QString("stamp=%1 longitude=%2 latitude=%3 altitude=%4m error=%5m bearing=%6deg").arg(QString::number(gps.stamp(), 'f')).arg(gps.longitude()).arg(gps.latitude()).arg(gps.altitude()).arg(gps.error()).arg(gps.bearing()));
@@ -3652,6 +3660,7 @@ void DatabaseViewer::updateConstraintView(
ui_->label_idA,
ui_->label_mapA,
ui_->label_poseA,
ui_->label_velA,
ui_->label_calibA,
ui_->label_gpsA,
false); // don't update constraints view!
@@ -3666,6 +3675,7 @@ void DatabaseViewer::updateConstraintView(
ui_->label_idB,
ui_->label_mapB,
ui_->label_poseB,
ui_->label_velB,
ui_->label_calibB,
ui_->label_gpsB,
false); // don't update constraints view!
guilib/src/MainWindow.cpp
+8 -1
View File
@@ -1465,6 +1465,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
bool smallMovement = (bool)uValue(stat.data(), Statistics::kMemorySmall_movement(), 0.0f);
bool fastMovement = (bool)uValue(stat.data(), Statistics::kMemoryFast_movement(), 0.0f);
// update cache
Signature signature;
if(uContains(stat.getSignatures(), stat.refImageId()))
@@ -1475,7 +1477,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if( uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())) &&
signature.getWeight()>=0) // ignore intermediate nodes for the cache
{
if(smallMovement)
if(smallMovement || fastMovement)
{
_cachedSignatures.insert(-1, signature); // negative means temporary
}
@@ -1525,6 +1527,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->imageView_source->setBackgroundColor(Qt::gray);
}
else if(fastMovement)
{
_ui->imageView_source->setBackgroundColor(Qt::magenta);
}
// Set color code as tooltip
if(_ui->label_refId->toolTip().isEmpty())
{
@@ -1535,6 +1541,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
" Dark Yellow = Proximity Detection in Time\n"
" Dark Cyan = Neighbor Link Refined\n"
" Gray = Small Movement\n"
" Magenta = Fast Movement\n"
"Feature Color code:\n"
" Green = New\n"
" Yellow = New but Not Unique\n"
guilib/src/PreferencesDialog.cpp
+2
View File
@@ -780,6 +780,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_activateRGBD->setObjectName(Parameters::kRGBDEnabled().c_str());
_ui->rgdb_linearUpdate->setObjectName(Parameters::kRGBDLinearUpdate().c_str());
_ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str());
_ui->rgdb_linearSpeedUpdate->setObjectName(Parameters::kRGBDLinearSpeedUpdate().c_str());
_ui->rgdb_angularSpeedUpdate->setObjectName(Parameters::kRGBDAngularSpeedUpdate().c_str());
_ui->rgdb_rehearsalWeightIgnoredWhileMoving->setObjectName(Parameters::kMemRehearsalWeightIgnoredWhileMoving().c_str());
_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
_ui->odomScanHistory->setObjectName(Parameters::kRGBDNeighborLinkRefining().c_str());
guilib/src/ui/DatabaseViewer.ui
+101 -67
View File
@@ -52,8 +52,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>408</width>
<height>232</height>
<width>393</width>
<height>256</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -115,14 +115,14 @@
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QLabel" name="label_childrenA_14">
<property name="text">
<string>Calib</string>
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_calibA">
<property name="text">
<string/>
@@ -159,14 +159,14 @@
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_childrenA_6">
<property name="text">
<string>Stamp</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_stampA">
<property name="text">
<string/>
@@ -193,14 +193,14 @@
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QLabel" name="label_childrenA_16">
<property name="text">
<string>GPS</string>
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_gpsA">
<property name="text">
<string/>
@@ -210,6 +210,23 @@
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_18">
<property name="text">
<string>Velocity</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_velA">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
@@ -227,11 +244,72 @@
<rect>
<x>0</x>
<y>0</y>
<width>408</width>
<height>232</height>
<width>393</width>
<height>256</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_9">
<property name="text">
<string>Weight</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_mapB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_poseB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_childrenA_15">
<property name="text">
<string>Calib</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_calibB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_childrenA_17">
<property name="text">
<string>GPS</string>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_gpsB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_childrenB">
<property name="text">
@@ -307,14 +385,14 @@
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QLabel" name="label_childrenA_7">
<property name="text">
<string>Stamp</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_stampB">
<property name="text">
<string/>
@@ -324,59 +402,15 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_childrenA_9">
<item row="6" column="0">
<widget class="QLabel" name="label_childrenA_19">
<property name="text">
<string>Weight</string>
<string>Velocity</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_mapB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_poseB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_childrenA_15">
<property name="text">
<string>Calib</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_calibB">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_childrenA_17">
<property name="text">
<string>GPS</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_gpsB">
<item row="6" column="1">
<widget class="QLabel" name="label_velB">
<property name="text">
<string/>
</property>
@@ -1196,8 +1230,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>309</width>
<height>650</height>
<width>280</width>
<height>666</height>
</rect>
</property>
<attribute name="label">
@@ -1559,8 +1593,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>324</width>
<height>168</height>
<width>201</width>
<height>126</height>
</rect>
</property>
<attribute name="label">
@@ -1659,8 +1693,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>309</width>
<height>256</height>
<width>186</width>
<height>496</height>
</rect>
</property>
<attribute name="label">
guilib/src/ui/preferencesDialog.ui
+88 -33
View File
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>14</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -7913,7 +7913,20 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>Map Update</string>
</property>
<layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1">
<item row="7" column="1">
<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="9" 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>
@@ -7926,7 +7939,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_scanMatching">
<property name="text">
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link (odometry) with the previous node is refined using ICP registration approach (laser scans required).</string>
@@ -7939,7 +7952,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<item row="7" 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>
@@ -7952,7 +7965,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="0">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="localDetection_radius">
<property name="suffix">
<string> m</string>
@@ -7975,7 +7988,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
<property name="suffix">
<string/>
@@ -8020,6 +8033,29 @@ 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_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="5" column="0">
<widget class="QCheckBox" name="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
@@ -8036,7 +8072,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
<property name="suffix">
<string> m</string>
@@ -8055,30 +8091,7 @@ 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_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="3" column="0">
<widget class="QCheckBox" name="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="6" column="1">
<item row="8" 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>
@@ -8091,7 +8104,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_scanMatching_9">
<property name="text">
<string>Re-extract visual features when computing loop closure transformations.</string>
@@ -8104,13 +8117,55 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<item row="6" column="0">
<widget class="QCheckBox" name="loopClosure_reextract">
<property name="text">
<string/>
</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="3" column="1">
<widget class="QLabel" name="label_433">
<property name="text">
<string>Maximum angular speed to update the map (0 means not limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="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>
</layout>
</widget>
</item>