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

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matlabbe
2015-09-03 12:37:14 -04:00
parent 786bbaa2c2
commit 198899ba32
6 changed files with 194 additions and 57 deletions
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39
guilib/src/ui/preferencesDialog.ui
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@@ -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>