mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Parameters: Added "Reg/VarianceNormalized". Registration: Transforms are now only normalized in Registration. Added rgbd_dataset tool. MainWindow: odom inliers-only shown option. ExportCloudsDialog: ignoring intermediate nodes for texturing (if they don't have data). DatabaseViewer: "optimized" checkbox enabled in Constraints view for non-neighbor links too.
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-667</y>
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<y>0</y>
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<width>673</width>
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<height>2747</height>
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</rect>
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@@ -86,7 +86,7 @@
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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>18</number>
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<number>19</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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@@ -272,7 +272,7 @@
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<item>
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<widget class="QGroupBox" name="groupBox_5">
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<property name="title">
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<string>Loop Closure Detection View</string>
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<string>Loop Closure Detection</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
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<item row="1" column="0">
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@@ -371,16 +371,15 @@
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox">
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<widget class="QGroupBox" name="groupBox_21">
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<property name="title">
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<string>3D Map View</string>
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<string>Odometry</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_38" columnstretch="0,1">
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<layout class="QGridLayout" name="gridLayout_85" columnstretch="0,1">
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<item row="0" column="1">
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<widget class="QLabel" name="label_86">
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<widget class="QLabel" name="label_369">
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<property name="text">
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<string>Odometry warning theshold:
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Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -> General -> Odom inliers.</string>
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<string>Show only inliers.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -391,6 +390,30 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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_odom_onlyInliersShown">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_159">
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<property name="text">
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<string>Warning theshold:
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Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -> General -> Odom inliers.</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="1" column="0">
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<widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
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<property name="maximum">
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<number>9999</number>
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@@ -2678,7 +2701,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
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<property name="currentIndex">
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<number>2</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -2788,7 +2811,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_rgbd">
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<property name="currentIndex">
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<number>6</number>
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<number>7</number>
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</property>
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<widget class="QWidget" name="page_32">
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<layout class="QVBoxLayout" name="verticalLayout_63">
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@@ -3480,7 +3503,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>For RGBD-SLAM datasets, it is 5.</string>
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</property>
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<property name="decimals">
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<number>1</number>
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<number>3</number>
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</property>
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<property name="minimum">
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<double>1.000000000000000</double>
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@@ -10763,6 +10786,26 @@ 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="2" column="1">
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<widget class="QLabel" name="label_370">
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<property name="text">
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<string>Normalize covariance values. Position variances are multiplied by norm of the transform and orientation variances are multiplied by angle of the transform.</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="2" column="0">
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<widget class="QCheckBox" name="reg_varianceNormalized">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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