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0.18.3: added landmarks (graph optimization, localization, navigation)

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This commit is contained in:
matlabbe
2018-12-07 18:29:41 -05:00
parent b771aa00e0
commit 200ec8e5db
35 changed files with 1509 additions and 709 deletions
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5
guilib/src/DatabaseViewer.cpp
View File

@@ -6564,10 +6564,11 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
if(maxLinearErrorRatio > maxOptimizationError)
{
msg = uFormat("Rejecting edge %d->%d because "
"graph error is too large after optimization (ratio %f for edge %d->%d, stddev=%f m). "
"graph error is too large (abs=%f m) after optimization (ratio %f for edge %d->%d, stddev=%f m). "
"\"%s\" is %f.",
newLink.from(),
newLink.to(),
maxLinearError,
maxLinearErrorRatio,
maxLinearLink->from(),
maxLinearLink->to(),
@@ -6582,7 +6583,7 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
if(maxAngularErrorRatio > maxOptimizationError)
{
msg = uFormat("Rejecting edge %d->%d because "
"graph error is too large after optimization (ratio %f for edge %d->%d, stddev=%f deg). "
"graph error is too large after optimization (ratio %f for edge %d->%d, stddev=%f deg, abs=%f deg). "
"\"%s\" is %f.",
newLink.from(),
newLink.to(),

6
guilib/src/GraphViewer.cpp
View File

@@ -355,7 +355,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
for(QMap<int, NodeItem*>::iterator iter = _nodeItems.begin(); iter!=_nodeItems.end(); ++iter)
{
iter.value()->hide();
iter.value()->setColor(_nodeColor); // reset color
iter.value()->setColor(iter.key()<0?QColor(255-_nodeColor.red(), 255-_nodeColor.green(), 255-_nodeColor.blue()):_nodeColor); // reset color
}
for(QMultiMap<int, LinkItem*>::iterator iter = _linkItems.begin(); iter!=_linkItems.end(); ++iter)
{
@@ -378,8 +378,8 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
const Transform & pose = iter->second;
NodeItem * item = new NodeItem(iter->first, uContains(mapIds, iter->first)?mapIds.at(iter->first):-1, pose, _nodeRadius);
this->scene()->addItem(item);
item->setZValue(20);
item->setColor(_nodeColor);
item->setZValue(iter->first<0?21:20);
item->setColor(iter->first<0?QColor(255-_nodeColor.red(), 255-_nodeColor.green(), 255-_nodeColor.blue()):_nodeColor);
item->setParentItem(_graphRoot);
item->setVisible(_nodeVisible);
_nodeItems.insert(iter->first, item);

147
guilib/src/MainWindow.cpp
View File

@@ -1567,7 +1567,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
int highestHypothesisId = static_cast<float>(uValue(stat.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
int loopId = stat.loopClosureId()>0?stat.loopClosureId():stat.proximityDetectionId()>0?stat.proximityDetectionId():highestHypothesisId;
if(_cachedSignatures.contains(loopId))
if(loopId>0 && _cachedSignatures.contains(loopId))
{
loopMapId = _cachedSignatures.value(loopId).mapId();
}
@@ -1601,7 +1601,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
if(smallMovement || fastMovement)
{
_cachedSignatures.insert(-1, signature); // negative means temporary
_cachedSignatures.insert(0, signature); // zero means temporary
}
else
{
@@ -1700,10 +1700,12 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int rejectedHyp = bool(uValue(stat.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stat.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
int landmarkId = static_cast<int>(uValue(stat.data(), Statistics::kLoopLandmark_detected(), 0.0f));
int landmarkNodeRef = static_cast<int>(uValue(stat.data(), Statistics::kLoopLandmark_detected_node_ref(), 0.0f));
int matchId = 0;
Signature loopSignature;
int shownLoopId = 0;
if(highestHypothesisId > 0 || stat.proximityDetectionId()>0)
if(highestHypothesisId > 0 || stat.proximityDetectionId()>0 || landmarkId>0)
{
bool show = true;
if(stat.loopClosureId() > 0)
@@ -1723,6 +1725,12 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_matchId->setText(QString("Local match = %1 [%2]").arg(stat.proximityDetectionId()).arg(loopMapId));
matchId = stat.proximityDetectionId();
}
else if(landmarkId!=0)
{
_ui->imageView_loopClosure->setBackgroundColor(QColor("orange"));
_ui->label_matchId->setText(QString("Landmark match = %1 with %2").arg(landmarkId).arg(landmarkNodeRef));
matchId = landmarkNodeRef;
}
else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
{
show = _preferencesDialog->imageRejectedShown() || _preferencesDialog->imageHighestHypShown();
@@ -1744,7 +1752,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(show)
{
shownLoopId = stat.loopClosureId()>0?stat.loopClosureId():stat.proximityDetectionId()>0?stat.proximityDetectionId():highestHypothesisId;
shownLoopId = matchId>0?matchId:highestHypothesisId;
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter != _cachedSignatures.end())
{
@@ -1907,6 +1915,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
std::map<int, Transform> poses = stat.poses();
UDEBUG("time= %d ms", time.restart());
if(!_odometryReceived && poses.size() && poses.rbegin()->first == stat.refImageId())
@@ -1931,16 +1940,16 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
}
if(_cachedSignatures.contains(-1))
if(_cachedSignatures.contains(0) && stat.refImageId()>0)
{
if(poses.find(stat.refImageId())!=poses.end())
{
poses.insert(std::make_pair(-1, poses.at(stat.refImageId())));
poses.insert(std::make_pair(0, poses.at(stat.refImageId())));
poses.erase(stat.refImageId());
}
if(groundTruth.find(stat.refImageId())!=groundTruth.end())
{
groundTruth.insert(std::make_pair(-1, groundTruth.at(stat.refImageId())));
groundTruth.insert(std::make_pair(0, groundTruth.at(stat.refImageId())));
groundTruth.erase(stat.refImageId());
}
}
@@ -2002,7 +2011,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
UDEBUG("");
_cachedSignatures.remove(-1); // remove tmp negative ids
_cachedSignatures.remove(0); // remove tmp negative ids
// keep only compressed data in cache
if(_cachedSignatures.contains(stat.refImageId()))
@@ -2075,20 +2084,21 @@ void MainWindow::updateMapCloud(
std::map<std::string, float> * stats)
{
UTimer timer;
UDEBUG("posesIn=%d constraints=%d mapIdsIn=%d labelsIn=%d",
(int)posesIn.size(), (int)constraints.size(), (int)mapIdsIn.size(), (int)labels.size());
std::map<int, Transform> nodePoses(posesIn.lower_bound(0), posesIn.end());
UDEBUG("nodes=%d landmarks=%d constraints=%d mapIdsIn=%d labelsIn=%d",
(int)nodePoses.size(), (int)(posesIn.size() - nodePoses.size()), (int)constraints.size(), (int)mapIdsIn.size(), (int)labels.size());
if(posesIn.size())
{
_currentPosesMap = posesIn;
_currentPosesMap.erase(-1); // don't keep -1 if it is there
_currentPosesMap.erase(0); // don't keep 0 if it is there
_currentLinksMap = constraints;
_currentMapIds = mapIdsIn;
_currentLabels = labels;
_currentGTPosesMap = groundTruths;
_currentGTPosesMap.erase(-1);
_currentGTPosesMap.erase(0);
if(_state != kMonitoring && _state != kDetecting)
{
_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && _currentPosesMap.size() >= 2 && _currentLinksMap.size() >= 1);
_ui->actionPost_processing->setEnabled(_cachedSignatures.size() >= 2 && nodePoses.size() >= 2 && _currentLinksMap.size() >= 1);
_ui->menuExport_poses->setEnabled(!_currentPosesMap.empty());
}
_ui->actionAnchor_clouds_to_ground_truth->setEnabled(!_currentGTPosesMap.empty());
@@ -2097,20 +2107,20 @@ void MainWindow::updateMapCloud(
// filter duplicated poses
std::map<int, Transform> poses;
std::map<int, int> mapIds;
if(_preferencesDialog->isCloudFiltering() && posesIn.size())
if(_preferencesDialog->isCloudFiltering() && nodePoses.size())
{
float radius = _preferencesDialog->getCloudFilteringRadius();
float angle = _preferencesDialog->getCloudFilteringAngle()*CV_PI/180.0; // convert to rad
bool hasNeg = posesIn.find(-1) != posesIn.end();
if(hasNeg)
bool hasZero = nodePoses.find(0) != nodePoses.end();
if(hasZero)
{
std::map<int, Transform> posesInTmp = posesIn;
posesInTmp.erase(-1);
std::map<int, Transform> posesInTmp = nodePoses;
posesInTmp.erase(0);
poses = rtabmap::graph::radiusPosesFiltering(posesInTmp, radius, angle);
}
else
{
poses = rtabmap::graph::radiusPosesFiltering(posesIn, radius, angle);
poses = rtabmap::graph::radiusPosesFiltering(nodePoses, radius, angle);
}
for(std::map<int, Transform>::iterator iter= poses.begin(); iter!=poses.end(); ++iter)
{
@@ -2120,30 +2130,30 @@ void MainWindow::updateMapCloud(
mapIds.insert(*jter);
}
}
//keep -1
if(hasNeg)
//keep 0
if(hasZero)
{
poses.insert(*posesIn.find(-1));
poses.insert(*nodePoses.find(0));
}
if(verboseProgress)
{
_progressDialog->appendText(tr("Map update: %1 nodes shown of %2 (cloud filtering is on)").arg(poses.size()).arg(posesIn.size()));
_progressDialog->appendText(tr("Map update: %1 nodes shown of %2 (cloud filtering is on)").arg(poses.size()).arg(nodePoses.size()));
QApplication::processEvents();
}
}
else
{
poses = posesIn;
poses = nodePoses;
mapIds = mapIdsIn;
}
std::map<int, bool> posesMask;
for(std::map<int, Transform>::const_iterator iter = posesIn.begin(); iter!=posesIn.end(); ++iter)
for(std::map<int, Transform>::const_iterator iter = nodePoses.begin(); iter!=nodePoses.end(); ++iter)
{
posesMask.insert(posesMask.end(), std::make_pair(iter->first, poses.find(iter->first) != poses.end()));
}
_ui->widget_mapVisibility->setMap(posesIn, posesMask);
_ui->widget_mapVisibility->setMap(nodePoses, posesMask);
if(groundTruths.size() && _ui->actionAnchor_clouds_to_ground_truth->isChecked())
{
@@ -2179,14 +2189,10 @@ void MainWindow::updateMapCloud(
nearestPoses.insert(*pter);
}
}
//add negative...
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
//add zero...
if(poses.find(0) != poses.end())
{
if(iter->first > 0)
{
break;
}
nearestPoses.insert(*iter);
nearestPoses.insert(*poses.find(0));
}
poses=nearestPoses;
}
@@ -2201,7 +2207,7 @@ void MainWindow::updateMapCloud(
{
std::string cloudName = uFormat("cloud%d", iter->first);
if(iter->first < 0)
if(iter->first == 0)
{
viewerClouds.remove(cloudName);
_cloudViewer->removeCloud(cloudName);
@@ -2247,7 +2253,7 @@ void MainWindow::updateMapCloud(
// 2d point cloud
std::string scanName = uFormat("scan%d", iter->first);
if(iter->first < 0)
if(iter->first == 0)
{
viewerClouds.remove(scanName);
_cloudViewer->removeCloud(scanName);
@@ -2330,7 +2336,7 @@ void MainWindow::updateMapCloud(
// 3d features
std::string featuresName = uFormat("features%d", iter->first);
if(iter->first < 0)
if(iter->first == 0)
{
viewerClouds.remove(featuresName);
_cloudViewer->removeCloud(featuresName);
@@ -2444,7 +2450,7 @@ void MainWindow::updateMapCloud(
UTimer timerGraph;
// Find all graphs
std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > graphs;
for(std::map<int, Transform>::iterator iter=_currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter)
for(std::map<int, Transform>::iterator iter=_currentPosesMap.lower_bound(1); iter!=_currentPosesMap.end(); ++iter)
{
int mapId = uValue(_currentMapIds, iter->first, -1);
@@ -2552,7 +2558,7 @@ void MainWindow::updateMapCloud(
{
for(std::map<int, std::string>::const_iterator iter=labels.begin(); iter!=labels.end(); ++iter)
{
if(posesIn.find(iter->first)!=posesIn.end())
if(nodePoses.find(iter->first)!=nodePoses.end())
{
int mapId = uValue(mapIdsIn, iter->first, -1);
QColor color = Qt::gray;
@@ -2851,7 +2857,7 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
UASSERT_MSG(nodeId == -1 || nodeId == data.id(), uFormat("nodeId=%d data.id()=%d", nodeId, data.id()).c_str());
UASSERT_MSG(nodeId == 0 || nodeId == data.id(), uFormat("nodeId=%d data.id()=%d", nodeId, data.id()).c_str());
// Create organized cloud
cloud = util3d::cloudRGBFromSensorData(data,
@@ -5223,7 +5229,7 @@ void MainWindow::exportPoses(int format)
{
bool cameraFrame = item.compare("Camera") == 0;
_exportPosesFrame = cameraFrame?1:2;
for(std::map<int, Transform>::iterator iter=_currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter)
for(std::map<int, Transform>::iterator iter=_currentPosesMap.lower_bound(1); iter!=_currentPosesMap.end(); ++iter)
{
if(_cachedSignatures.contains(iter->first))
{
@@ -5289,8 +5295,8 @@ void MainWindow::exportPoses(int format)
std::multimap<int, Link> links;
if(localTransforms.empty())
{
poses = _currentPosesMap;
links = _currentLinksMap;
poses = std::map<int, Transform>(_currentPosesMap.lower_bound(1), _currentPosesMap.end());
links = std::multimap<int, Link>(_currentLinksMap.lower_bound(1), _currentLinksMap.end());
}
else
{
@@ -5299,7 +5305,7 @@ void MainWindow::exportPoses(int format)
{
poses.insert(std::make_pair(iter->first, _currentPosesMap.at(iter->first) * iter->second));
}
for(std::multimap<int, Link>::iterator iter=_currentLinksMap.begin(); iter!=_currentLinksMap.end(); ++iter)
for(std::multimap<int, Link>::iterator iter=_currentLinksMap.lower_bound(1); iter!=_currentLinksMap.end(); ++iter)
{
if(uContains(poses, iter->second.from()) && uContains(poses, iter->second.to()))
{
@@ -5415,27 +5421,20 @@ void MainWindow::postProcessing()
return;
}
if(_currentPosesMap.lower_bound(1) == _currentPosesMap.end())
{
UWARN("No nodes to process...");
return;
}
// First, verify that we have all data required in the GUI
bool allDataAvailable = true;
std::map<int, Transform> odomPoses;
for(std::map<int, Transform>::iterator iter = _currentPosesMap.begin();
for(std::map<int, Transform>::iterator iter = _currentPosesMap.lower_bound(1);
iter!=_currentPosesMap.end() && allDataAvailable;
++iter)
{
QMap<int, Signature>::iterator jter = _cachedSignatures.find(iter->first);
if(jter != _cachedSignatures.end())
{
if(jter->getPose().isNull())
{
UWARN("Odometry pose of %d is null.", iter->first);
allDataAvailable = false;
}
else
{
odomPoses.insert(*iter); // fill raw poses
}
}
else
if(jter == _cachedSignatures.end())
{
UWARN("Node %d missing.", iter->first);
allDataAvailable = false;
@@ -5460,11 +5459,11 @@ void MainWindow::postProcessing()
int totalSteps = 0;
if(refineNeighborLinks)
{
totalSteps+=(int)odomPoses.size();
totalSteps+=(int)_currentPosesMap.size();
}
if(refineLoopClosureLinks)
{
totalSteps+=(int)_currentLinksMap.size() - (int)odomPoses.size();
totalSteps+=(int)_currentLinksMap.size() - (int)_currentPosesMap.size();
}
if(sba)
{
@@ -5636,7 +5635,7 @@ void MainWindow::postProcessing()
// use first node of the map containing from
for(std::map<int, int>::iterator iter=_currentMapIds.begin(); iter!=_currentMapIds.end(); ++iter)
{
if(iter->second == mapId && odomPoses.find(iter->first)!=odomPoses.end())
if(iter->second == mapId && _currentPosesMap.find(iter->first)!=_currentPosesMap.end())
{
fromId = iter->first;
break;
@@ -5650,10 +5649,10 @@ void MainWindow::postProcessing()
float maxAngularError = 0.0f;
std::map<int, Transform> poses;
std::multimap<int, Link> links;
UASSERT(odomPoses.find(fromId) != odomPoses.end());
UASSERT_MSG(odomPoses.find(from) != odomPoses.end(), uFormat("id=%d poses=%d links=%d", from, (int)poses.size(), (int)links.size()).c_str());
UASSERT_MSG(odomPoses.find(to) != odomPoses.end(), uFormat("id=%d poses=%d links=%d", to, (int)poses.size(), (int)links.size()).c_str());
optimizer->getConnectedGraph(fromId, odomPoses, linksIn, poses, links);
UASSERT(_currentPosesMap.find(fromId) != _currentPosesMap.end());
UASSERT_MSG(_currentPosesMap.find(from) != _currentPosesMap.end(), uFormat("id=%d poses=%d links=%d", from, (int)poses.size(), (int)links.size()).c_str());
UASSERT_MSG(_currentPosesMap.find(to) != _currentPosesMap.end(), uFormat("id=%d poses=%d links=%d", to, (int)poses.size(), (int)links.size()).c_str());
optimizer->getConnectedGraph(fromId, _currentPosesMap, linksIn, poses, links);
UASSERT(poses.find(fromId) != poses.end());
UASSERT_MSG(poses.find(from) != poses.end(), uFormat("id=%d poses=%d links=%d", from, (int)poses.size(), (int)links.size()).c_str());
UASSERT_MSG(poses.find(to) != poses.end(), uFormat("id=%d poses=%d links=%d", to, (int)poses.size(), (int)links.size()).c_str());
@@ -5755,16 +5754,17 @@ void MainWindow::postProcessing()
if(n+1 < detectLoopClosureIterations)
{
_progressDialog->appendText(tr("Optimizing graph with new links (%1 nodes, %2 constraints)...")
.arg(odomPoses.size()).arg(_currentLinksMap.size()));
.arg(_currentPosesMap.size()).arg(_currentLinksMap.size()));
QApplication::processEvents();
int fromId = optimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first;
UASSERT(_currentPosesMap.lower_bound(1) != _currentPosesMap.end());
int fromId = optimizeFromGraphEnd?_currentPosesMap.rbegin()->first:_currentPosesMap.lower_bound(1)->first;
std::map<int, rtabmap::Transform> posesOut;
std::multimap<int, rtabmap::Link> linksOut;
std::map<int, rtabmap::Transform> optimizedPoses;
optimizer->getConnectedGraph(
fromId,
odomPoses,
_currentPosesMap,
_currentLinksMap,
posesOut,
linksOut);
@@ -5791,12 +5791,12 @@ void MainWindow::postProcessing()
RegistrationIcp regIcp(parameters);
int i=0;
for(std::multimap<int, Link>::iterator iter = _currentLinksMap.begin(); iter!=_currentLinksMap.end() && !_progressCanceled; ++iter, ++i)
for(std::multimap<int, Link>::iterator iter = _currentLinksMap.lower_bound(1); iter!=_currentLinksMap.end() && !_progressCanceled; ++iter, ++i)
{
int type = iter->second.type();
if((refineNeighborLinks && type==Link::kNeighbor) ||
(refineLoopClosureLinks && type!=Link::kNeighbor))
(refineLoopClosureLinks && type!=Link::kNeighbor && type!=Link::kLandmark))
{
int from = iter->second.from();
int to = iter->second.to();
@@ -5864,15 +5864,16 @@ void MainWindow::postProcessing()
}
_progressDialog->appendText(tr("Optimizing graph with updated links (%1 nodes, %2 constraints)...")
.arg(odomPoses.size()).arg(_currentLinksMap.size()));
.arg(_currentPosesMap.size()).arg(_currentLinksMap.size()));
int fromId = optimizeFromGraphEnd?odomPoses.rbegin()->first:odomPoses.begin()->first;
UASSERT(_currentPosesMap.lower_bound(1) != _currentPosesMap.end());
int fromId = optimizeFromGraphEnd?_currentPosesMap.rbegin()->first:_currentPosesMap.lower_bound(1)->first;
std::map<int, rtabmap::Transform> posesOut;
std::multimap<int, rtabmap::Link> linksOut;
std::map<int, rtabmap::Transform> optimizedPoses;
optimizer->getConnectedGraph(
fromId,
odomPoses,
_currentPosesMap,
_currentLinksMap,
posesOut,
linksOut);

1
guilib/src/PreferencesDialog.cpp
View File

@@ -883,6 +883,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kOptimizerEpsilon().c_str());
_ui->graphOptimization_robust->setObjectName(Parameters::kOptimizerRobust().c_str());
_ui->graphOptimization_priorsIgnored->setObjectName(Parameters::kOptimizerPriorsIgnored().c_str());
_ui->graphOptimization_landmarksIgnored->setObjectName(Parameters::kOptimizerLandmarksIgnored().c_str());
_ui->comboBox_g2o_solver->setObjectName(Parameters::kg2oSolver().c_str());
_ui->comboBox_g2o_optimizer->setObjectName(Parameters::kg2oOptimizer().c_str());

32
guilib/src/ui/preferencesDialog.ui
View File

@@ -126,7 +126,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>18</number>
<number>14</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -9620,21 +9620,21 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0" rowspan="2">
<item row="5" column="0" rowspan="2">
<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_151">
<property name="text">
<string>Optimize graph from the newest node.</string>
@@ -9647,7 +9647,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_211">
<property name="text">
<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
@@ -9660,7 +9660,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_183">
<property name="text">
<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
@@ -9693,6 +9693,26 @@ 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_521">
<property name="text">
<string>Ignore landmarks.</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="graphOptimization_landmarksIgnored">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>