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Updated how retrieved locations on the planned path are linked to local map.

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Added new parameters: "RGBD/PlanWithNearNodesLinked" and "Mem/LocalSpaceLinksKeptInWM"
This commit is contained in:
Mathieu Labbe
2015-02-17 17:30:47 -05:00
parent 4279625d03
commit 2f6426f029
9 changed files with 182 additions and 64 deletions
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2
guilib/src/PreferencesDialog.cpp
View File

@@ -339,6 +339,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str());
_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
_ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str());
_ui->checkBox_localSpaceLinksKeptInWM->setObjectName(Parameters::kMemLocalSpaceLinksKeptInWM().c_str());
_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
@@ -451,6 +452,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_maxAnticipatedNodes->setObjectName(Parameters::kRGBDMaxAnticipatedNodes().c_str());
_ui->graphPlan_planWithNearNodesLinked->setObjectName(Parameters::kRGBDPlanWithNearNodesLinked().c_str());
_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDLocalLoopDetectionSpace().c_str());

43
guilib/src/ui/preferencesDialog.ui
View File

@@ -2836,7 +2836,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string/>
</property>
<property name="checked">
<bool>true</bool>
<bool>false</bool>
</property>
</widget>
</item>
@@ -2880,7 +2880,7 @@ 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_retrieved_6">
<property name="text">
<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
@@ -2890,7 +2890,7 @@ 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="spinBox_imageDecimation">
<property name="minimum">
<number>1</number>
@@ -2900,6 +2900,26 @@ 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_retrieved_7">
<property name="text">
<string>If local space links are kept in WM.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_localSpaceLinksKeptInWM">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -5312,6 +5332,23 @@ Warning when set to false: when some nodes are transferred, the first referentia
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="graphPlan_planWithNearNodesLinked">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_space3_4">
<property name="text">
<string>Before planning in the graph, near nodes are linked together (even if they don't belong to same map). Radius is defined by &quot;Goal reached radius&quot; above.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>