mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +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
@@ -95,15 +95,24 @@
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@@ -117,7 +126,7 @@
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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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@@ -10405,6 +10423,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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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<bool>true</bool>
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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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</widget>
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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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@@ -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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@@ -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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<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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</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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<string/>
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<property name="minimum">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_probMiss">
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<item row="9" column="1">
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<property name="text">
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<string>Probability clamping threshold maximum.</string>
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@@ -15124,7 +15270,16 @@ Lower the ratio -> higher the precision.</string>
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@@ -15204,7 +15359,16 @@ Lower the ratio -> higher the precision.</string>
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