i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

OdomF2M: added Odom/KeyFrameThr=0.5 and OdomF2M/MaxNewFeatures=0 parameters. Set Odom/GuessMotion to false by default.

Browse Source
This commit is contained in:
matlabbe
2016-03-01 20:47:46 -05:00
parent b6fb947310
commit 264146d8b3
10 changed files with 180 additions and 100 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
guilib/src/PreferencesDialog.cpp
View File

@@ -670,12 +670,18 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str());
_ui->checkBox_localSpaceAssembleScans->setObjectName(Parameters::kRGBDProximityPathScansMerged().c_str());
_ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str());
_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
// Registration
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());
_ui->loopClosure_bowForce2D->setObjectName(Parameters::kRegForce3DoF().c_str());
//RegistrationVis
_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kVisMinInliers().c_str());
_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kVisInlierDistance().c_str());
_ui->loopClosure_bowIterations->setObjectName(Parameters::kVisIterations().c_str());
_ui->loopClosure_bowRefineIterations->setObjectName(Parameters::kVisRefineIterations().c_str());
_ui->loopClosure_bowForce2D->setObjectName(Parameters::kRegForce3DoF().c_str());
_ui->loopClosure_estimationType->setObjectName(Parameters::kVisEstimationType().c_str());
connect(_ui->loopClosure_estimationType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureEstimation, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_loopClosureEstimation->setCurrentIndex(Parameters::defaultVisEstimationType());
@@ -684,11 +690,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_pnpReprojError->setObjectName(Parameters::kVisPnPReprojError().c_str());
_ui->loopClosure_pnpFlags->setObjectName(Parameters::kVisPnPFlags().c_str());
_ui->loopClosure_pnpRefineIterations->setObjectName(Parameters::kVisPnPRefineIterations().c_str());
_ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str());
_ui->comboBox_registrationStrategy->setObjectName(Parameters::kRegStrategy().c_str());
_ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str());
_ui->loopClosure_correspondencesType->setObjectName(Parameters::kVisCorType().c_str());
connect(_ui->loopClosure_correspondencesType, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_loopClosureCorrespondences, SLOT(setCurrentIndex(int)));
_ui->stackedWidget_loopClosureCorrespondences->setCurrentIndex(Parameters::defaultVisCorType());
@@ -703,10 +704,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->subpix_winSize->setObjectName(Parameters::kVisSubPixWinSize().c_str());
_ui->subpix_iterations->setObjectName(Parameters::kVisSubPixIterations().c_str());
_ui->subpix_eps->setObjectName(Parameters::kVisSubPixEps().c_str());
_ui->odom_flow_winSize_2->setObjectName(Parameters::kVisCorFlowWinSize().c_str());
_ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str());
_ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str());
_ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str());
//RegistrationIcp
_ui->globalDetection_icpMaxTranslation->setObjectName(Parameters::kIcpMaxTranslation().c_str());
_ui->globalDetection_icpMaxRotation->setObjectName(Parameters::kIcpMaxRotation().c_str());
_ui->loopClosure_icpVoxelSize->setObjectName(Parameters::kIcpVoxelSize().c_str());
_ui->loopClosure_icpDownsamplingStep->setObjectName(Parameters::kIcpDownsamplingStep().c_str());
_ui->loopClosure_icpMaxCorrespondenceDistance->setObjectName(Parameters::kIcpMaxCorrespondenceDistance().c_str());
@@ -725,20 +730,15 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
_ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str());
_ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomKeyFrameThr().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomGuessMotion().c_str());
//Odometry Frame to Map
_ui->odom_localHistory->setObjectName(Parameters::kOdomF2MMaxSize().c_str());
_ui->spinBox_odom_f2m_maxNewFeatures->setObjectName(Parameters::kOdomF2MMaxNewFeatures().c_str());
_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomF2MFixedMapPath().c_str());
connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath()));
//Odometry Frame to Frame
_ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomF2FKeyFrameThr().c_str());
_ui->odom_flow_winSize_2->setObjectName(Parameters::kVisCorFlowWinSize().c_str());
_ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str());
_ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str());
_ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str());
_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomGuessMotion().c_str());
//Odometry Mono
_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());
_ui->doubleSpinBox_minInitTranslation->setObjectName(Parameters::kOdomMonoInitMinTranslation().c_str());

106
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-629</y>
<y>-215</y>
<width>681</width>
<height>2010</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>14</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -7282,7 +7282,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QSpinBox" name="odom_dataBufferSize">
<property name="maximum">
<number>999999</number>
@@ -7319,7 +7319,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QPushButton" name="pushButton_testOdometry">
<property name="text">
<string>Test selected odometry</string>
@@ -7339,7 +7339,7 @@ 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_232">
<property name="text">
<string>Data buffer size (0 means inf).</string>
@@ -7414,6 +7414,32 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_196">
<property name="text">
<string>Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</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="QDoubleSpinBox" name="odom_flow_keyframeThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.500000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -7457,7 +7483,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLineEdit" name="odom_fixedLocalMapPath"/>
</item>
<item row="0" column="0">
@@ -7476,14 +7502,14 @@ 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="QToolButton" name="toolButton_odomBowFixedLocalMap">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="1" column="2">
<item row="2" column="2">
<widget class="QLabel" name="label_239">
<property name="text">
<string>Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP pose estimation is activated.</string>
@@ -7496,6 +7522,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_194">
<property name="text">
<string>Maximum features added to local map (nearest to farthest) from a new key-frame. 0 means no limit.</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="QSpinBox" name="spinBox_odom_f2m_maxNewFeatures">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -7537,39 +7592,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_196">
<property name="text">
<string>Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="odom_flow_keyframeThr">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_43">
<property name="orientation">
@@ -7578,7 +7600,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
<height>40</height>
</size>
</property>
</spacer>