mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-03 16:47:47 +08:00
Merge branch 'master' of github.com:introlab/rtabmap into gtest
This commit is contained in:
matlabbe
+1
-1
@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
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#######################
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SET(RTABMAP_MAJOR_VERSION 0)
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SET(RTABMAP_MINOR_VERSION 21)
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SET(RTABMAP_PATCH_VERSION 13)
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SET(RTABMAP_PATCH_VERSION 14)
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SET(RTABMAP_VERSION
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${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
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@@ -390,6 +390,7 @@ class RTABMAP_CORE_EXPORT Parameters
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RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
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RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
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RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
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RTABMAP_PARAM(RGBD, LocalizationSecondTryWithoutProximityLinks, bool, true, uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()));
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// Local/Proximity loop closure detection
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RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
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@@ -333,6 +333,7 @@ private:
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int _maxOdomCacheSize;
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bool _localizationSmoothing;
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double _localizationPriorInf;
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bool _localizationSecondTryWithoutProximityLinks;
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bool _createGlobalScanMap;
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float _markerPriorsLinearVariance;
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float _markerPriorsAngularVariance;
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@@ -81,6 +81,7 @@ class RTABMAP_CORE_EXPORT Statistics
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RTABMAP_STATS(Loop, Landmark_detected_node_ref,);
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RTABMAP_STATS(Loop, Visual_inliers_mean_dist,m);
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RTABMAP_STATS(Loop, Visual_inliers_distribution,);
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RTABMAP_STATS(Loop, Proximity_links_cleared,);
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//Odom correction
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RTABMAP_STATS(Loop, Odom_correction_norm, m);
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RTABMAP_STATS(Loop, Odom_correction_angle, deg);
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@@ -780,13 +780,19 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
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}
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else if(!combinedLocalTransforms.empty())
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{
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// We are overriding the camra local transforms, let's move 3D words accordingly
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// We are overriding the camera local transforms, let's move 3D words accordingly
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UASSERT(dbModels.size() == combinedLocalTransforms.size());
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std::vector<cv::Point3f> newKeypoints3D;
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UASSERT(dbModels[0].imageWidth()>0);
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int subImageWidth = dbModels[0].imageWidth();
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for(size_t i = 0; i<keypoints3D.size(); ++i)
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{
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cv::Point3f pt = util3d::transformPoint(keypoints3D.at(i), dbModels[i].localTransform().inverse());
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pt = util3d::transformPoint(pt, combinedLocalTransforms[i]);
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int cameraIndex = int(keypoints.at(i).pt.x / subImageWidth);
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UASSERT_MSG(cameraIndex >= 0 && cameraIndex < (int)dbModels.size(),
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uFormat("cameraIndex=%d, db models=%d, kpt.x=%f, image width=%d",
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cameraIndex, (int)dbModels.size(), keypoints[i].pt.x, subImageWidth).c_str());
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cv::Point3f pt = util3d::transformPoint(keypoints3D.at(i), dbModels[cameraIndex].localTransform().inverse());
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pt = util3d::transformPoint(pt, combinedLocalTransforms[cameraIndex]);
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newKeypoints3D.push_back(pt);
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}
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data.setFeatures(keypoints, newKeypoints3D, descriptors);
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+21
-4
@@ -152,6 +152,7 @@ Rtabmap::Rtabmap() :
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_maxOdomCacheSize(Parameters::defaultRGBDMaxOdomCacheSize()),
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_localizationSmoothing(Parameters::defaultRGBDLocalizationSmoothing()),
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_localizationPriorInf(1.0/(Parameters::defaultRGBDLocalizationPriorError()*Parameters::defaultRGBDLocalizationPriorError())),
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_localizationSecondTryWithoutProximityLinks(Parameters::defaultRGBDLocalizationSecondTryWithoutProximityLinks()),
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_createGlobalScanMap(Parameters::defaultRGBDProximityGlobalScanMap()),
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_markerPriorsLinearVariance(Parameters::defaultMarkerPriorsVarianceLinear()),
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_markerPriorsAngularVariance(Parameters::defaultMarkerPriorsVarianceAngular()),
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@@ -632,6 +633,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
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Parameters::parse(parameters, Parameters::kRGBDLocalizationPriorError(), localizationPriorError);
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UASSERT(localizationPriorError>0.0);
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_localizationPriorInf = 1.0/(localizationPriorError*localizationPriorError);
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Parameters::parse(parameters, Parameters::kRGBDLocalizationSecondTryWithoutProximityLinks(), _localizationSecondTryWithoutProximityLinks);
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Parameters::parse(parameters, Parameters::kRGBDProximityGlobalScanMap(), _createGlobalScanMap);
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Parameters::parse(parameters, Parameters::kMarkerPriorsVarianceLinear(), _markerPriorsLinearVariance);
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@@ -3181,6 +3183,7 @@ bool Rtabmap::process(
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int optimizationIterations = 0;
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Transform previousMapCorrection;
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bool delayedLocalization = false;
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int odomCacheProximityLinksCleared = 0;
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UDEBUG("RGB-D SLAM mode: %d", _rgbdSlamMode?1:0);
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UDEBUG("Incremental: %d", _memory->isIncremental());
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UDEBUG("Loop hyp: %d", _loopClosureHypothesis.first);
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@@ -3299,7 +3302,7 @@ bool Rtabmap::process(
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if(!posesOut.empty() &&
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posesOut.begin()->first < _odomCachePoses.begin()->first)
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{
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optPoses = _graphOptimizer->optimize(posesOut.begin()->first, posesOut, edgeConstraintsOut, locOptCovariance);
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optPoses = _graphOptimizer->optimize(posesOut.begin()->first, posesOut, edgeConstraintsOut, locOptCovariance, 0, &optimizationError, &optimizationIterations);
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}
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else
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{
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@@ -3424,7 +3427,8 @@ bool Rtabmap::process(
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}
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bool hasGlobalLoopClosuresOrLandmarks = false;
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if(rejectLocalization && !graph::filterLinks(constraints, Link::kLocalSpaceClosure, true).empty())
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if(rejectLocalization &&
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(_localizationSecondTryWithoutProximityLinks && !graph::filterLinks(constraints, Link::kLocalSpaceClosure, true).empty()))
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{
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// Let's try again without local loop closures
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localizationLinks = graph::filterLinks(localizationLinks, Link::kLocalSpaceClosure);
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@@ -3448,7 +3452,7 @@ bool Rtabmap::process(
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if(!posesOut.empty() &&
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posesOut.begin()->first < _odomCachePoses.begin()->first)
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{
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optPoses = _graphOptimizer->optimize(posesOut.begin()->first, posesOut, edgeConstraintsOut, locOptCovariance);
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optPoses = _graphOptimizer->optimize(posesOut.begin()->first, posesOut, edgeConstraintsOut, locOptCovariance, 0, &optimizationError, &optimizationIterations);
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}
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else
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{
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@@ -3584,13 +3588,14 @@ bool Rtabmap::process(
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_odomCacheConstraints = graph::filterLinks(_odomCacheConstraints, Link::kLocalSpaceClosure);
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if(before != _odomCacheConstraints.size())
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{
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UWARN("Successfully optimized without local loop closures! Clear them from local odometry cache. %ld/%ld have been removed.",
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UWARN("Successfully optimized without local loop closures! Clearing them from local odometry cache. %ld/%ld have been removed.",
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before - _odomCacheConstraints.size(), before);
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}
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else
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{
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UWARN("Successfully optimized without local loop closures!");
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}
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odomCacheProximityLinksCleared = before - _odomCacheConstraints.size();
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}
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// Count how many localization links are in the constraints
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@@ -3645,6 +3650,14 @@ bool Rtabmap::process(
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if(hadAlreadyLocalizationLinks || _maxOdomCacheSize == 0)
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{
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UINFO("Update localization");
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// update odomCachePoses with optimized poses (but make sure to put them back in odom frame)
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Transform mapToOdomCache = signature->getPose() * newOptPoseInv;
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for(std::map<int, Transform>::iterator iter = _odomCachePoses.begin(); iter!=_odomCachePoses.end(); ++iter)
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{
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iter->second = mapToOdomCache * optPoses.at(iter->first);
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}
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if(_optimizeFromGraphEnd)
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{
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// update all previous nodes
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@@ -4134,6 +4147,10 @@ bool Rtabmap::process(
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statistics_.addStatistic(Statistics::kLoopMapToBase_yaw(), yaw*180.0f/M_PI);
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UINFO("Localization pose = %s", _lastLocalizationPose.prettyPrint().c_str());
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if(_localizationSecondTryWithoutProximityLinks) {
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statistics_.addStatistic(Statistics::kLoopProximity_links_cleared(), (float)odomCacheProximityLinksCleared);
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}
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if(_localizationCovariance.total()==36)
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{
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double varLin = _graphOptimizer->isSlam2d()?
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@@ -843,34 +843,38 @@ SensorData CameraDepthAI::captureImage(SensorCaptureInfo * info)
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std::vector<cv::Point> kpts;
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cv::findNonZero(scores > threshold_, kpts);
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std::vector<cv::KeyPoint> keypoints;
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for(auto& kpt : kpts)
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{
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float response = scores.at<float>(kpt);
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keypoints.emplace_back(cv::KeyPoint(kpt, 8, -1, response));
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}
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cv::Mat coarse_desc(25, 40, CV_32FC(256), local_descriptor_map.data());
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if(detectFeatures_ == 2)
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coarse_desc.forEach<cv::Vec<float, 256>>([&](cv::Vec<float, 256>& descriptor, const int position[]) -> void {
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if(!kpts.empty()){
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std::vector<cv::KeyPoint> keypoints;
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for(auto& kpt : kpts)
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{
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float response = scores.at<float>(kpt);
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keypoints.emplace_back(cv::KeyPoint(kpt, 8, -1, response));
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}
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cv::Mat coarse_desc(25, 40, CV_32FC(256), local_descriptor_map.data());
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if(detectFeatures_ == 2)
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coarse_desc.forEach<cv::Vec<float, 256>>([&](cv::Vec<float, 256>& descriptor, const int position[]) -> void {
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cv::normalize(descriptor, descriptor);
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});
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cv::Mat mapX(keypoints.size(), 1, CV_32FC1);
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cv::Mat mapY(keypoints.size(), 1, CV_32FC1);
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for(size_t i=0; i<keypoints.size(); ++i)
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{
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mapX.at<float>(i) = (keypoints[i].pt.x - (targetSize_.width-1)/2) * 40/targetSize_.width + (40-1)/2;
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mapY.at<float>(i) = (keypoints[i].pt.y - (targetSize_.height-1)/2) * 25/targetSize_.height + (25-1)/2;
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}
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cv::Mat map1, map2, descriptors;
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cv::convertMaps(mapX, mapY, map1, map2, CV_16SC2);
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cv::remap(coarse_desc, descriptors, map1, map2, cv::INTER_LINEAR);
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descriptors.forEach<cv::Vec<float, 256>>([&](cv::Vec<float, 256>& descriptor, const int position[]) -> void {
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cv::normalize(descriptor, descriptor);
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});
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cv::Mat mapX(keypoints.size(), 1, CV_32FC1);
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cv::Mat mapY(keypoints.size(), 1, CV_32FC1);
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for(size_t i=0; i<keypoints.size(); ++i)
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{
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mapX.at<float>(i) = (keypoints[i].pt.x - (targetSize_.width-1)/2) * 40/targetSize_.width + (40-1)/2;
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mapY.at<float>(i) = (keypoints[i].pt.y - (targetSize_.height-1)/2) * 25/targetSize_.height + (25-1)/2;
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descriptors = descriptors.reshape(1);
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||||
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data.setFeatures(keypoints, std::vector<cv::Point3f>(), descriptors);
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}
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cv::Mat map1, map2, descriptors;
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cv::convertMaps(mapX, mapY, map1, map2, CV_16SC2);
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||||
cv::remap(coarse_desc, descriptors, map1, map2, cv::INTER_LINEAR);
|
||||
descriptors.forEach<cv::Vec<float, 256>>([&](cv::Vec<float, 256>& descriptor, const int position[]) -> void {
|
||||
cv::normalize(descriptor, descriptor);
|
||||
});
|
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descriptors = descriptors.reshape(1);
|
||||
|
||||
data.setFeatures(keypoints, std::vector<cv::Point3f>(), descriptors);
|
||||
if(detectFeatures_ == 3)
|
||||
data.addGlobalDescriptor(GlobalDescriptor(1, cv::Mat(1, global_descriptor.size(), CV_32FC1, global_descriptor.data()).clone()));
|
||||
}
|
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|
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@@ -781,10 +781,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
|
||||
pcl::TextureMapping<pcl::PointXYZ> tm; // TextureMapping object that will perform the sort
|
||||
tm.setMaxDistance(maxDistance);
|
||||
tm.setMaxAngle(maxAngle);
|
||||
if(maxDepthError > 0.0f)
|
||||
{
|
||||
tm.setMaxDepthError(maxDepthError);
|
||||
}
|
||||
tm.setMaxDepthError(maxDepthError);
|
||||
tm.setMinClusterSize(minClusterSize);
|
||||
if(tm.textureMeshwithMultipleCameras2(*textureMesh, cameras, state, vertexToPixels, distanceToCamPolicy))
|
||||
{
|
||||
|
||||
@@ -1256,6 +1256,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
_ui->spinBox_maxOdomCacheSize->setObjectName(Parameters::kRGBDMaxOdomCacheSize().c_str());
|
||||
_ui->checkbox_localizationSmoothing->setObjectName(Parameters::kRGBDLocalizationSmoothing().c_str());
|
||||
_ui->doubleSpinBox_localizationPriorError->setObjectName(Parameters::kRGBDLocalizationPriorError().c_str());
|
||||
_ui->checkbox_localizationSecondTryWithoutProximityLinks->setObjectName(Parameters::kRGBDLocalizationSecondTryWithoutProximityLinks().c_str());
|
||||
|
||||
// Registration
|
||||
_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());
|
||||
|
||||
+346
-326
@@ -63,7 +63,7 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<y>-659</y>
|
||||
<width>713</width>
|
||||
<height>4705</height>
|
||||
</rect>
|
||||
@@ -95,7 +95,7 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>21</number>
|
||||
<number>12</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
|
||||
@@ -12386,6 +12386,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<string>Map Update</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1">
|
||||
<item row="18" column="1">
|
||||
<widget class="QLabel" name="label_space2_12">
|
||||
<property name="text">
|
||||
<string>Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_17">
|
||||
<property name="text">
|
||||
<string>Force odometry poses to be 3DoF if Motion Estimation is 3DoF.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_bunlde">
|
||||
<property name="text">
|
||||
@@ -12393,20 +12422,62 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="odomGravity">
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_12">
|
||||
<property name="text">
|
||||
<string>Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_invertedReg">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="0">
|
||||
<widget class="QDoubleSpinBox" name="localDetection_radius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
<item row="21" column="1">
|
||||
<widget class="QLabel" name="label_space2_19">
|
||||
<property name="text">
|
||||
<string>Localization prior error. Used only in localization mode. The corresponding variance (error x error) set to priors of the map's poses during localization.</string>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="20" column="1">
|
||||
<widget class="QLabel" name="label_space2_18">
|
||||
<property name="text">
|
||||
<string>Localization smoothing. Used only in localization mode. Adjust localization constraints based on optimized odometry cache poses.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_163">
|
||||
<property name="text">
|
||||
<string>Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -12423,16 +12494,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_16">
|
||||
<property name="text">
|
||||
<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
|
||||
<property name="suffix">
|
||||
<string> m/s</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -12455,6 +12526,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_14">
|
||||
<property name="text">
|
||||
<string>Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used (assuming that registration strategy can deal with transformation estimation without guess).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_433">
|
||||
<property name="text">
|
||||
@@ -12468,32 +12552,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_11">
|
||||
<property name="text">
|
||||
<string>Ignore off diagonal values of the odometry covariance matrix.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_12">
|
||||
<property name="text">
|
||||
<string>Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.</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="QDoubleSpinBox" name="rgdb_angularUpdate">
|
||||
<property name="suffix">
|
||||
@@ -12510,6 +12568,215 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_16">
|
||||
<property name="text">
|
||||
<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
|
||||
<property name="suffix">
|
||||
<string> rad/s</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>3.140000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="odomScanHistory">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="1">
|
||||
<widget class="QLabel" name="label_space2">
|
||||
<property name="text">
|
||||
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="0">
|
||||
<widget class="QDoubleSpinBox" name="localDetection_radius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_7">
|
||||
<property name="text">
|
||||
<string>Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if "Optimizer/GravitySigma" is not zero.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="memCovOffDiagIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_5">
|
||||
<property name="text">
|
||||
<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_2">
|
||||
<property name="text">
|
||||
<string>If true, rtabmap will assume the robot is restarting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode.</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="rgbd_forceOdom3DoF">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_reextract">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_153">
|
||||
<property name="text">
|
||||
<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_11">
|
||||
<property name="text">
|
||||
<string>Ignore off diagonal values of the odometry covariance matrix.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="1">
|
||||
<widget class="QLabel" name="label_space2_5">
|
||||
<property name="text">
|
||||
<string>Maximum odometry cache size. Used only in localization mode. This is used to get smoother localizations and to verify localization transforms (when maximum graph error is not null) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_identityGuess">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="20" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_localizationSmoothing">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="0">
|
||||
<widget class="QDoubleSpinBox" name="maxLocalizationDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_9">
|
||||
<property name="text">
|
||||
@@ -12536,21 +12803,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_163">
|
||||
<property name="text">
|
||||
<string>Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_identityGuess">
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="odomGravity">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -12569,125 +12823,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="0">
|
||||
<widget class="QDoubleSpinBox" name="maxLocalizationDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
|
||||
<property name="suffix">
|
||||
<string> rad/s</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>3.140000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="odomScanHistory">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="20" column="1">
|
||||
<widget class="QLabel" name="label_space2_18">
|
||||
<property name="text">
|
||||
<string>Localization smoothing. Used only in localization mode. Adjust localization constraints based on optimized odometry cache poses.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_3">
|
||||
<property name="text">
|
||||
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
|
||||
<property name="suffix">
|
||||
<string> m/s</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="memCovOffDiagIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="21" column="1">
|
||||
<widget class="QLabel" name="label_space2_19">
|
||||
<property name="text">
|
||||
<string>Localization prior error. Used only in localization mode. The corresponding variance (error x error) set to priors of the map's poses during localization.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_14">
|
||||
<property name="text">
|
||||
<string>Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used (assuming that registration strategy can deal with transformation estimation without guess).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_loopCovLimited">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
|
||||
<property name="suffix">
|
||||
@@ -12707,13 +12842,39 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_reextract">
|
||||
<item row="14" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_loopCovLimited">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_3">
|
||||
<property name="text">
|
||||
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_432">
|
||||
<property name="text">
|
||||
<string>Maximum linear speed to update the map (0 means not limit).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="21" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_localizationPriorError">
|
||||
<property name="suffix">
|
||||
@@ -12733,10 +12894,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_432">
|
||||
<item row="22" column="1">
|
||||
<widget class="QLabel" name="label_space2_21">
|
||||
<property name="text">
|
||||
<string>Maximum linear speed to update the map (0 means not limit).</string>
|
||||
<string>When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache. If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -12746,149 +12907,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
|
||||
</item>
|
||||
<item row="16" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_5">
|
||||
<property name="text">
|
||||
<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_2">
|
||||
<property name="text">
|
||||
<string>If true, rtabmap will assume the robot is restarting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="20" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_localizationSmoothing">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_153">
|
||||
<property name="text">
|
||||
<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</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="QDoubleSpinBox" name="rgdb_linearUpdate">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_7">
|
||||
<property name="text">
|
||||
<string>Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if "Optimizer/GravitySigma" is not zero.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="1">
|
||||
<widget class="QLabel" name="label_space2">
|
||||
<property name="text">
|
||||
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="1">
|
||||
<widget class="QLabel" name="label_space2_12">
|
||||
<property name="text">
|
||||
<string>Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_invertedReg">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="1">
|
||||
<widget class="QLabel" name="label_space2_5">
|
||||
<property name="text">
|
||||
<string>Maximum odometry cache size. Used only in localization mode. This is used to get smoother localizations and to verify localization transforms (when maximum graph error is not null) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.</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="1">
|
||||
<widget class="QLabel" name="label_scanMatching_17">
|
||||
<property name="text">
|
||||
<string>Force odometry poses to be 3DoF if Motion Estimation is 3DoF.</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="rgbd_forceOdom3DoF">
|
||||
<item row="22" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_localizationSecondTryWithoutProximityLinks">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
|
||||
+1
-1
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>rtabmap</name>
|
||||
<version>0.21.12</version>
|
||||
<version>0.21.14</version>
|
||||
<description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
|
||||
<maintainer email="[email protected]">Mathieu Labbe</maintainer>
|
||||
<author>Mathieu Labbe</author>
|
||||
|
||||
@@ -97,7 +97,7 @@ void showUsage()
|
||||
" considered blurred. 0 means disabled. 50 can be good default.\n"
|
||||
" --cam_projection Camera projection on assembled cloud and export node ID on each point (in PointSourceId field).\n"
|
||||
" --cam_projection_keep_all Keep not colored points from cameras (node ID will be 0 and color will be red).\n"
|
||||
" --cam_projection_decimation Decimate images before projecting the points.\n"
|
||||
" --cam_projection_decimation # Decimate images before projecting the points.\n"
|
||||
" --cam_projection_mask \"\" File path for a mask. Format should be 8-bits grayscale. The mask should\n"
|
||||
" cover all cameras in case multi-camera is used and have the same resolution.\n"
|
||||
" --opt # Optimization approach:\n"
|
||||
|
||||
@@ -232,10 +232,10 @@ class UThreadC<void>
|
||||
typedef THREAD_HANDLE Handle;
|
||||
typedef void ( *Handler)();
|
||||
|
||||
virtual ~UThreadC<void>() {}
|
||||
virtual ~UThreadC() {}
|
||||
|
||||
protected:
|
||||
UThreadC<void>() {}
|
||||
UThreadC() {}
|
||||
|
||||
virtual void ThreadMain() = 0;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user