mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache.
This commit is contained in:
matlabbe
@@ -1997,6 +1997,33 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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}
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}
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// Add data
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for(std::map<int, Signature>::const_iterator iter = stat.getSignaturesData().begin();
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iter!=stat.getSignaturesData().end();
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++iter)
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{
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if(signature.id() != iter->first &&
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(!_cachedSignatures.contains(iter->first) ||
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(_cachedSignatures.value(iter->first).sensorData().imageCompressed().empty() && !iter->second.sensorData().imageCompressed().empty())))
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{
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_cachedSignatures.insert(iter->first, iter->second);
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_cachedMemoryUsage += iter->second.sensorData().getMemoryUsed();
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unsigned int count = 0;
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if(!iter->second.getWords3().empty())
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{
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for(std::multimap<int, int>::const_iterator jter=iter->second.getWords().upper_bound(-1); jter!=iter->second.getWords().end(); ++jter)
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{
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if(util3d::isFinite(iter->second.getWords3()[jter->second]))
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{
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++count;
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}
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}
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}
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_cachedWordsCount.insert(std::make_pair(iter->first, (float)count));
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UINFO("Added %d node data to cache", iter->first);
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}
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}
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// For intermediate empty nodes, keep latest image shown
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if(signature.getWeight() >= 0)
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{
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@@ -2573,6 +2600,33 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
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_cachedMemoryUsage += s.sensorData().getMemoryUsed();
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}
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// Check missing cache
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if(stat.getSignaturesData().size() <= 1)
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{
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if(_preferencesDialog->isMissingCacheRepublished() &&
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_preferencesDialog->isImagesKept() &&
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atoi(_preferencesDialog->getParameter(Parameters::kRtabmapMaxRepublished()).c_str()) > 0)
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{
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std::vector<int> missingIds;
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for(std::map<int, Transform>::const_iterator iter=stat.poses().begin(); iter!=stat.poses().end(); ++iter)
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{
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QMap<int, Signature>::iterator ster = _cachedSignatures.find(iter->first);
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if(ster == _cachedSignatures.end() ||
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(ster.value().getWeight() >=0 && // ignore intermediate nodes
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ster.value().sensorData().imageCompressed().empty() &&
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ster.value().sensorData().depthOrRightCompressed().empty() &&
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ster.value().sensorData().laserScanCompressed().empty()))
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{
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missingIds.push_back(iter->first);
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}
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}
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if(!missingIds.empty())
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{
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this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdRepublishData, UVariant(missingIds)));
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}
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}
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}
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UDEBUG("time= %d ms (update cache)", time.restart());
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}
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else if(!stat.extended() && stat.loopClosureId()>0)
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@@ -4651,8 +4705,7 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
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else if(event.getPoses().empty() && _waypoints.size())
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{
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// resend the same goal
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uSleep(1000);
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this->postGoal(_waypoints.at(_waypointsIndex % _waypoints.size()));
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QTimer::singleShot(1000, this, SLOT(postGoal()));
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}
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}
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@@ -7045,6 +7098,14 @@ void MainWindow::sendWaypoints()
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}
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}
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void MainWindow::postGoal()
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{
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if(!_waypoints.isEmpty())
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{
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postGoal(_waypoints.at(_waypointsIndex % _waypoints.size()));
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}
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}
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void MainWindow::postGoal(const QString & goal)
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{
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if(!goal.isEmpty())
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@@ -450,6 +450,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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// General panel
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connect(_ui->general_checkBox_imagesKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->general_checkBox_missing_cache_republished, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->general_checkBox_cloudsKept, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->checkBox_verticalLayoutUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
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connect(_ui->checkBox_imageRejectedShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
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@@ -888,6 +889,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->general_spinBox_imagesBufferSize->setObjectName(Parameters::kRtabmapImageBufferSize().c_str());
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_ui->general_checkBox_createIntermediateNodes->setObjectName(Parameters::kRtabmapCreateIntermediateNodes().c_str());
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_ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str());
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_ui->general_spinBox_max_republished->setObjectName(Parameters::kRtabmapMaxRepublished().c_str());
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_ui->general_checkBox_startNewMapOnLoopClosure->setObjectName(Parameters::kRtabmapStartNewMapOnLoopClosure().c_str());
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_ui->general_checkBox_startNewMapOnGoodSignature->setObjectName(Parameters::kRtabmapStartNewMapOnGoodSignature().c_str());
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_ui->general_checkBox_imagesAlreadyRectified->setObjectName(Parameters::kRtabmapImagesAlreadyRectified().c_str());
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@@ -1792,6 +1794,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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if(groupBox->objectName() == _ui->groupBox_generalSettingsGui0->objectName())
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{
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_ui->general_checkBox_imagesKept->setChecked(true);
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_ui->general_checkBox_missing_cache_republished->setChecked(true);
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_ui->general_checkBox_cloudsKept->setChecked(true);
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_ui->checkBox_beep->setChecked(false);
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_ui->checkBox_stamps->setChecked(true);
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@@ -2272,6 +2275,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
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settings.beginGroup("Gui");
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settings.beginGroup("General");
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_ui->general_checkBox_imagesKept->setChecked(settings.value("imagesKept", _ui->general_checkBox_imagesKept->isChecked()).toBool());
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_ui->general_checkBox_missing_cache_republished->setChecked(settings.value("missingRepublished", _ui->general_checkBox_missing_cache_republished->isChecked()).toBool());
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_ui->general_checkBox_cloudsKept->setChecked(settings.value("cloudsKept", _ui->general_checkBox_cloudsKept->isChecked()).toBool());
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_ui->comboBox_loggerLevel->setCurrentIndex(settings.value("loggerLevel", _ui->comboBox_loggerLevel->currentIndex()).toInt());
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_ui->comboBox_loggerEventLevel->setCurrentIndex(settings.value("loggerEventLevel", _ui->comboBox_loggerEventLevel->currentIndex()).toInt());
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@@ -2801,6 +2805,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
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settings.beginGroup("General");
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settings.remove("");
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settings.setValue("imagesKept", _ui->general_checkBox_imagesKept->isChecked());
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settings.setValue("missingRepublished", _ui->general_checkBox_missing_cache_republished->isChecked());
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settings.setValue("cloudsKept", _ui->general_checkBox_cloudsKept->isChecked());
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settings.setValue("loggerLevel", _ui->comboBox_loggerLevel->currentIndex());
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settings.setValue("loggerEventLevel", _ui->comboBox_loggerEventLevel->currentIndex());
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@@ -6482,6 +6487,10 @@ bool PreferencesDialog::isImagesKept() const
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{
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return _ui->general_checkBox_imagesKept->isChecked();
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}
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bool PreferencesDialog::isMissingCacheRepublished() const
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{
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return _ui->general_checkBox_missing_cache_republished->isChecked();
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}
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bool PreferencesDialog::isCloudsKept() const
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{
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return _ui->general_checkBox_cloudsKept->isChecked();
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@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-543</y>
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<y>0</y>
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<width>756</width>
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<height>3657</height>
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</rect>
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@@ -95,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>5</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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@@ -107,15 +107,8 @@
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<layout class="QVBoxLayout" name="verticalLayout_28">
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<item>
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<layout class="QGridLayout" name="gridLayout_39" columnstretch="0,1">
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<item row="2" column="0">
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<widget class="QCheckBox" name="checkBox_beep">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
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<item row="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_imagesKept">
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<property name="text">
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<string/>
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</property>
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@@ -124,7 +117,7 @@
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_247">
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<property name="text">
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<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>
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@@ -137,7 +130,24 @@
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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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<item row="5" column="0">
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<widget class="QCheckBox" name="checkBox_cacheStatistics">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_313">
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<property name="text">
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<string>Insert created clouds in the GUI cache to avoid regenerating clouds on export.</string>
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@@ -150,47 +160,14 @@
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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_102">
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<property name="text">
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<string>Notify when a new global path is received.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_imagesKept">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QCheckBox" name="general_checkBox_cloudsKept">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<item row="4" column="0">
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<widget class="QCheckBox" name="checkBox_stamps">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<item row="5" column="1">
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<widget class="QLabel" name="label_342">
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<property name="text">
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<string>Cache statistics.</string>
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@@ -203,7 +180,40 @@
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_beep">
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<property name="text">
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||||
<string/>
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||||
</property>
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||||
</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_102">
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<property name="text">
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<string>Notify when a new global path is received.</string>
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</property>
|
||||
<property name="wordWrap">
|
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<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_239">
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<property name="text">
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<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>
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</property>
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<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_88">
|
||||
<property name="text">
|
||||
<string>Beep! on special events (finished processing the data set, an error has occured, ...).</string>
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@@ -229,34 +239,14 @@
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||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_odomDisabled">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</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="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_cacheStatistics">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_347">
|
||||
<property name="text">
|
||||
<string>When a ground truth is provided, align it with the map.</string>
|
||||
@@ -269,13 +259,46 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_groundTruthAlign">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_cloudsKept">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_651">
|
||||
<property name="text">
|
||||
<string>Republish nodes not in GUI cache.</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_missing_cache_republished">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -8307,19 +8330,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<layout class="QVBoxLayout" name="verticalLayout_15">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_43" columnstretch="0,1">
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate">
|
||||
<property name="suffix">
|
||||
<string> Hz</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_SLAM_mode">
|
||||
<property name="text">
|
||||
@@ -8344,13 +8354,16 @@ 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="QCheckBox" name="general_checkBox_startNewMapOnLoopClosure">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate">
|
||||
<property name="suffix">
|
||||
<string> Hz</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -8377,29 +8390,6 @@ 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="general_checkBox_createIntermediateNodes">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_185">
|
||||
<property name="text">
|
||||
<string>Start a new map only if there is a global loop closure detected first with a previous map. If there is no map in memory, a new map is still created.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_84">
|
||||
<property name="text">
|
||||
@@ -8413,6 +8403,16 @@ 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="general_checkBox_createIntermediateNodes">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_165">
|
||||
<property name="text">
|
||||
@@ -8426,10 +8426,20 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_467">
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_startNewMapOnLoopClosure">
|
||||
<property name="text">
|
||||
<string>Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.</string>
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_185">
|
||||
<property name="text">
|
||||
<string>Start a new map only if there is a global loop closure detected first with a previous map. If there is no map in memory, a new map is still created.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -8439,8 +8449,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_imagesAlreadyRectified">
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_startNewMapOnGoodSignature">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -8462,8 +8472,31 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_startNewMapOnGoodSignature">
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_imagesAlreadyRectified">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_467">
|
||||
<property name="text">
|
||||
<string>Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.</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="QCheckBox" name="general_checkBox_rectifyOnlyFeatures">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -8485,8 +8518,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_rectifyOnlyFeatures">
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_saveLocalizationData">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -8508,16 +8541,6 @@ 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="QCheckBox" name="general_checkBox_saveLocalizationData">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -8645,7 +8668,27 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_45" columnstretch="0,1">
|
||||
<item row="1" column="0">
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_publishRMSE">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_saveWMState">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_publishPdf">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -8655,7 +8698,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_106">
|
||||
<property name="text">
|
||||
<string>Publish loop closure hypotheses (pdf).</string>
|
||||
@@ -8665,17 +8708,7 @@ 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="QCheckBox" name="general_checkBox_publishLikelihood">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_462">
|
||||
<property name="text">
|
||||
<string>Save working memory state after each update.</string>
|
||||
@@ -8685,6 +8718,36 @@ 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_116">
|
||||
<property name="text">
|
||||
<string>Publish loop closure likelihood.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_452">
|
||||
<property name="text">
|
||||
<string>Publish RAM usage.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_437">
|
||||
<property name="text">
|
||||
<string>Compute RMSE when ground truth is available.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_publishRawData">
|
||||
<property name="text">
|
||||
@@ -8695,6 +8758,16 @@ 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="general_checkBox_publishLikelihood">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_91">
|
||||
<property name="text">
|
||||
@@ -8705,27 +8778,7 @@ 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_116">
|
||||
<property name="text">
|
||||
<string>Publish loop closure likelihood.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_452">
|
||||
<property name="text">
|
||||
<string>Publish RAM usage.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_publishRAM">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -8735,33 +8788,26 @@ 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_437">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_652">
|
||||
<property name="text">
|
||||
<string>Compute RMSE when ground truth is available.</string>
|
||||
<string>Maximum nodes republished when requesting missing data. When RGB-D SLAM mode is disabled, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if "Publish signature data" is unchecked.</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="general_checkBox_publishRMSE">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="general_spinBox_max_republished">
|
||||
<property name="maximum">
|
||||
<number>999</number>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_saveWMState">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user