mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Added RGBD/LinearSpeedUpdate and RGBD/AngularSpeedUpdate parameters
This commit is contained in:
matlabbe
@@ -2568,6 +2568,7 @@ void DatabaseViewer::sliderAValueChanged(int value)
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ui_->label_idA,
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ui_->label_mapA,
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ui_->label_poseA,
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ui_->label_velA,
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ui_->label_calibA,
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ui_->label_gpsA,
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true);
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@@ -2586,6 +2587,7 @@ void DatabaseViewer::sliderBValueChanged(int value)
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ui_->label_idB,
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ui_->label_mapB,
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ui_->label_poseB,
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ui_->label_velB,
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ui_->label_calibB,
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ui_->label_gpsB,
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true);
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@@ -2602,6 +2604,7 @@ void DatabaseViewer::update(int value,
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QLabel * labelId,
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QLabel * labelMapId,
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QLabel * labelPose,
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QLabel * labelVelocity,
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QLabel * labelCalib,
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QLabel * labelGps,
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bool updateConstraintView)
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@@ -2614,6 +2617,7 @@ void DatabaseViewer::update(int value,
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label->clear();
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labelMapId->clear();
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labelPose->clear();
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labelVelocity->clear();
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stamp->clear();
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labelCalib->clear();
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labelGps->clear();
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@@ -2679,6 +2683,10 @@ void DatabaseViewer::update(int value,
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stamp->setText(QString::number(s, 'f'));
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stamp->setToolTip(QDateTime::fromMSecsSinceEpoch(s*1000.0).toString("dd.MM.yyyy hh:mm:ss.zzz"));
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}
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if(v.size()==6)
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{
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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]));
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}
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if(gps.stamp()>0.0)
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{
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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()));
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@@ -3652,6 +3660,7 @@ void DatabaseViewer::updateConstraintView(
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ui_->label_idA,
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ui_->label_mapA,
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ui_->label_poseA,
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ui_->label_velA,
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ui_->label_calibA,
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ui_->label_gpsA,
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false); // don't update constraints view!
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@@ -3666,6 +3675,7 @@ void DatabaseViewer::updateConstraintView(
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ui_->label_idB,
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ui_->label_mapB,
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ui_->label_poseB,
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ui_->label_velB,
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ui_->label_calibB,
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ui_->label_gpsB,
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false); // don't update constraints view!
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@@ -1465,6 +1465,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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bool smallMovement = (bool)uValue(stat.data(), Statistics::kMemorySmall_movement(), 0.0f);
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bool fastMovement = (bool)uValue(stat.data(), Statistics::kMemoryFast_movement(), 0.0f);
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// update cache
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Signature signature;
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if(uContains(stat.getSignatures(), stat.refImageId()))
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@@ -1475,7 +1477,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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if( uStr2Bool(_preferencesDialog->getParameter(Parameters::kMemIncrementalMemory())) &&
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signature.getWeight()>=0) // ignore intermediate nodes for the cache
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{
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if(smallMovement)
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if(smallMovement || fastMovement)
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{
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_cachedSignatures.insert(-1, signature); // negative means temporary
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}
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@@ -1525,6 +1527,10 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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{
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_ui->imageView_source->setBackgroundColor(Qt::gray);
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}
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else if(fastMovement)
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{
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_ui->imageView_source->setBackgroundColor(Qt::magenta);
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}
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// Set color code as tooltip
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if(_ui->label_refId->toolTip().isEmpty())
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{
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@@ -1535,6 +1541,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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" Dark Yellow = Proximity Detection in Time\n"
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" Dark Cyan = Neighbor Link Refined\n"
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" Gray = Small Movement\n"
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" Magenta = Fast Movement\n"
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"Feature Color code:\n"
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" Green = New\n"
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" Yellow = New but Not Unique\n"
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@@ -780,6 +780,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->general_checkBox_activateRGBD->setObjectName(Parameters::kRGBDEnabled().c_str());
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_ui->rgdb_linearUpdate->setObjectName(Parameters::kRGBDLinearUpdate().c_str());
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_ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str());
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_ui->rgdb_linearSpeedUpdate->setObjectName(Parameters::kRGBDLinearSpeedUpdate().c_str());
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_ui->rgdb_angularSpeedUpdate->setObjectName(Parameters::kRGBDAngularSpeedUpdate().c_str());
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_ui->rgdb_rehearsalWeightIgnoredWhileMoving->setObjectName(Parameters::kMemRehearsalWeightIgnoredWhileMoving().c_str());
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_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
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_ui->odomScanHistory->setObjectName(Parameters::kRGBDNeighborLinkRefining().c_str());
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@@ -52,8 +52,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>408</width>
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<height>232</height>
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<width>393</width>
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<height>256</height>
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</rect>
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</property>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
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@@ -115,14 +115,14 @@
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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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<item row="8" column="0">
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<widget class="QLabel" name="label_childrenA_14">
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<property name="text">
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<string>Calib</string>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<item row="8" column="1">
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<widget class="QLabel" name="label_calibA">
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<property name="text">
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<string/>
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@@ -159,14 +159,14 @@
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<item row="7" column="0">
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<widget class="QLabel" name="label_childrenA_6">
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<property name="text">
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<string>Stamp</string>
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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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<item row="7" column="1">
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<widget class="QLabel" name="label_stampA">
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<property name="text">
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<string/>
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@@ -193,14 +193,14 @@
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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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<item row="9" column="0">
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<widget class="QLabel" name="label_childrenA_16">
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<property name="text">
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<string>GPS</string>
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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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<item row="9" column="1">
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<widget class="QLabel" name="label_gpsA">
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<property name="text">
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<string/>
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@@ -210,6 +210,23 @@
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QLabel" name="label_childrenA_18">
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<property name="text">
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<string>Velocity</string>
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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_velA">
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<property name="text">
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<string/>
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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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</layout>
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</widget>
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</widget>
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@@ -227,11 +244,72 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>408</width>
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<height>232</height>
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<width>393</width>
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<height>256</height>
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</rect>
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</property>
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
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<item row="2" column="0">
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<widget class="QLabel" name="label_childrenA_9">
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<property name="text">
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<string>Weight</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_mapB">
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<property name="text">
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<string/>
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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="5" column="1">
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<widget class="QLabel" name="label_poseB">
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<property name="text">
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<string/>
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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="8" column="0">
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<widget class="QLabel" name="label_childrenA_15">
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<property name="text">
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<string>Calib</string>
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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_calibB">
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<property name="text">
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<string/>
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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="9" column="0">
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<widget class="QLabel" name="label_childrenA_17">
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<property name="text">
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<string>GPS</string>
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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_gpsB">
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<property name="text">
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<string/>
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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="1">
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<widget class="QLabel" name="label_childrenB">
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||||
<property name="text">
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||||
@@ -307,14 +385,14 @@
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</property>
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||||
</widget>
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</item>
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<item row="6" column="0">
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<item row="7" column="0">
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||||
<widget class="QLabel" name="label_childrenA_7">
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||||
<property name="text">
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||||
<string>Stamp</string>
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||||
</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>
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||||
</widget>
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||||
</item>
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||||
<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">
|
||||
|
||||
@@ -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>
|
||||
|
||||
Reference in New Issue
Block a user