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updated some default parameters mostly related to stereo odometry (flow, stereo, bayes prediction, likelihood tf-idf)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1995 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-13 22:28:59 +00:00
parent ae3947988d
commit 18596b9627
5 changed files with 38 additions and 94 deletions
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62
guilib/src/ui/preferencesDialog.ui
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@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>736</width>
<height>754</height>
<width>744</width>
<height>932</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -6167,7 +6167,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,0">
<item row="4" column="1">
<widget class="QLabel" name="label_47">
<property name="text">
@@ -6316,7 +6316,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<property name="text">
<string>Odometry strategy:
1-BOW matches features extracted from both frames using nearest neighbor with descriptors, then computes RANSAC transformation estimation with corresponding 3D features.
2-Optical flow estimates the location of 2D features from last frame to new frame, then computes RANSAC transformation with corresponding 3D features.</string>
2-Optical flow estimate the location of 2D features from last frame to new frame, then computes RANSAC transformation with corresponding 3D features.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6821,7 +6821,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<item>
<widget class="QGroupBox" name="groupBox_odometryFlow3">
<property name="title">
<string>Optical Flow / Stereo</string>
<string>Optical Flow</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_53">
<item>
@@ -6955,58 +6955,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_12">
<property name="title">
<string>Stereo</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_61">
<item>
<widget class="QLabel" name="label_217">
<property name="text">
<string>Note that when stereo images are used, the same optical flow parameters above are used to estimate the stereo pairs.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="odom_stereo_maxSlope">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_196">
<property name="text">
<string>The maximum slope for each stereo pairs. This will filter bad matches from calcOpticalFlowPyrLK().</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>