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

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matlabbe
2016-03-01 20:47:46 -05:00
parent b6fb947310
commit 264146d8b3
10 changed files with 180 additions and 100 deletions
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106
guilib/src/ui/preferencesDialog.ui
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@@ -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>