mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Parameters in group GridGlobal: renamed OctoMapOccupancyThr to OccupancyThr, added ProbHit, ProbMiss, ProbClampingMin, ProbClampingMax. Using logodds approach from OctoMap to evaluate occupancy of standard grid map. ref https://github.com/introlab/rtabmap_ros/issues/269
This commit is contained in:
matlabbe
@@ -994,7 +994,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->doubleSpinBox_grid_minMapSize->setObjectName(Parameters::kGridGlobalMinSize().c_str());
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_ui->spinBox_grid_maxNodes->setObjectName(Parameters::kGridGlobalMaxNodes().c_str());
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_ui->doubleSpinBox_grid_footprintRadius->setObjectName(Parameters::kGridGlobalFootprintRadius().c_str());
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_ui->doubleSpinBox_grid_octomapOccThr->setObjectName(Parameters::kGridGlobalOctoMapOccupancyThr().c_str());
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_ui->doubleSpinBox_grid_occThr->setObjectName(Parameters::kGridGlobalOccupancyThr().c_str());
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_ui->doubleSpinBox_grid_probHit->setObjectName(Parameters::kGridGlobalProbHit().c_str());
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_ui->doubleSpinBox_grid_probMiss->setObjectName(Parameters::kGridGlobalProbMiss().c_str());
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_ui->doubleSpinBox_grid_clampingMin->setObjectName(Parameters::kGridGlobalProbClampingMin().c_str());
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_ui->doubleSpinBox_grid_clampingMax->setObjectName(Parameters::kGridGlobalProbClampingMax().c_str());
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_ui->checkBox_grid_erode->setObjectName(Parameters::kGridGlobalEroded().c_str());
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//Odometry
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@@ -95,15 +95,24 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>673</width>
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<height>2803</height>
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<width>681</width>
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<height>2943</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -117,7 +126,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>12</number>
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<number>16</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -5084,7 +5093,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Directory of images (optional settings)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_93">
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -10405,6 +10423,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<layout class="QVBoxLayout" name="verticalLayout_115">
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<item>
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<layout class="QGridLayout" name="gridLayout_88" columnstretch="0,1">
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<item row="8" column="1">
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<widget class="QLabel" name="label_484">
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<property name="text">
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<string>Probability clamping threshold minimum.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QCheckBox" name="checkBox_grid_fullUpdate">
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<property name="text">
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@@ -10428,7 +10459,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<item row="10" column="1">
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<widget class="QLabel" name="label_224">
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<property name="text">
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<string>Erode obstacle cells.</string>
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@@ -10441,6 +10472,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_482">
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<property name="text">
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<string>Probability of a hit.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_319">
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<property name="text">
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@@ -10454,7 +10498,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<item row="10" column="0">
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<widget class="QCheckBox" name="checkBox_grid_erode">
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<property name="text">
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<string/>
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@@ -10576,7 +10620,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="5" column="1">
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<widget class="QLabel" name="label_457">
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<property name="text">
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<string>OctoMap occupancy threshold.</string>
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<string>Occupancy threshold.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -10587,7 +10631,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_octomapOccThr">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_occThr">
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<property name="suffix">
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<string/>
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</property>
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@@ -10605,6 +10649,108 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_483">
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<property name="text">
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<string>Probability of a miss.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_probHit">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<double>0.500000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_probMiss">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>0.500000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<widget class="QLabel" name="label_485">
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<property name="text">
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<string>Probability clamping threshold maximum.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clampingMin">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_clampingMax">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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@@ -15124,7 +15270,16 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -15204,7 +15359,16 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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@@ -15316,7 +15480,16 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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