i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added parameter "RGBD/OptimizeMaxError" (default: 1 m) to reject loop closures after too large optimization errors

Browse Source
This commit is contained in:
matlabbe
2015-09-03 12:37:14 -04:00
parent 786bbaa2c2
commit 198899ba32
6 changed files with 194 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
guilib/src/PreferencesDialog.cpp
View File

@@ -578,6 +578,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphOptimization_iterations->setObjectName(Parameters::kRGBDOptimizeIterations().c_str());
_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kRGBDOptimizeVarianceIgnored().c_str());
_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->graphOptimization_maxError->setObjectName(Parameters::kRGBDOptimizeMaxError().c_str());
_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kRGBDOptimizeEpsilon().c_str());
_ui->graphOptimization_robust->setObjectName(Parameters::kRGBDOptimizeRobust().c_str());

39
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-392</y>
<y>-509</y>
<width>760</width>
<height>1570</height>
<height>1598</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -6735,6 +6735,41 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_259">
<property name="text">
<string>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.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="graphOptimization_maxError">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>