mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.
This commit is contained in:
matlabbe
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<string>Refresh the directory files list after each image loaded.</string>
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<string>Directory of images (optional settings)</string>
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<string/>
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<property name="text">
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<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
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@@ -4791,7 +4846,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string/>
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<widget class="QLabel" name="label_292">
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<property name="text">
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<string>Maximum laser scan points.</string>
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||||
@@ -4817,20 +4879,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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||||
</property>
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||||
</widget>
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<item row="2" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
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<string/>
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<string/>
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
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<property name="text">
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@@ -4838,6 +4886,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QLineEdit" name="lineEdit_cameraImages_path_scans">
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<string/>
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<widget class="QLabel" name="label_251">
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<property name="text">
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@@ -4913,14 +4968,24 @@ 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>
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</item>
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||||
<item row="8" column="0">
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||||
<item row="9" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
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||||
<property name="text">
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||||
<string>...</string>
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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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||||
<item row="11" column="1">
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||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
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||||
<property name="toolTip">
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||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
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||||
<property name="maximum">
|
||||
<number>99999999</number>
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||||
</property>
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</widget>
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<item row="10" column="1">
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||||
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
|
||||
<property name="toolTip">
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||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0</p></body></html></string>
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@@ -4930,7 +4995,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="10" column="2">
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<widget class="QLabel" name="label_294">
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<property name="text">
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<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
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||||
@@ -4943,16 +5008,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="10" column="1">
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<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
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<property name="toolTip">
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||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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||||
</property>
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||||
<property name="maximum">
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||||
<number>99999999</number>
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_265">
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<property name="text">
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@@ -5073,10 +5128,35 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QLineEdit" name="lineEdit_cameraImages_odom">
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||||
<item row="8" column="2">
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||||
<widget class="QLabel" name="label_443">
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||||
<property name="text">
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||||
<string/>
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||||
<string>Max time difference between data and corresponding pose for format with stamps. If delay is over this threshold, the pose won't be set on data loaded. This is used when odometry and/or ground truth files are set.</string>
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||||
</property>
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<property name="wordWrap">
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<bool>true</bool>
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<item row="8" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_maxPoseTimeDiff">
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||||
<property name="suffix">
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||||
<string> s</string>
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||||
</property>
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||||
<property name="decimals">
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||||
<number>4</number>
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</property>
|
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<property name="maximum">
|
||||
<double>9.990000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
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||||
<double>0.020000000000000</double>
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||||
</property>
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</item>
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||||
@@ -6937,26 +7017,6 @@ generate the number of words requested.</string>
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||||
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||||
<item row="5" column="1">
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||||
<widget class="QLabel" name="label_101">
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||||
<property name="text">
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||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
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||||
</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
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||||
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||||
<property name="textInteractionFlags">
|
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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||||
</item>
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||||
<item row="5" column="0">
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<widget class="QLineEdit" name="lineEdit_kp_roi">
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<property name="readOnly">
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||||
<bool>true</bool>
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||||
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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="QComboBox" name="comboBox_detector_strategy">
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<item>
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||||
@@ -7011,6 +7071,26 @@ generate the number of words requested.</string>
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||||
</item>
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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="QLineEdit" name="lineEdit_kp_roi">
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||||
<property name="readOnly">
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||||
<bool>true</bool>
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||||
</property>
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||||
</widget>
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</item>
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||||
<item row="5" column="1">
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||||
<widget class="QLabel" name="label_101">
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<property name="text">
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||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
||||
</property>
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||||
<property name="wordWrap">
|
||||
<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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</widget>
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||||
</item>
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||||
<item row="1" column="1">
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||||
<widget class="QLabel" name="label_53">
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<property name="toolTip">
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||||
@@ -7179,6 +7259,70 @@ generate the number of words requested.</string>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="10" column="1">
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<widget class="QLabel" name="label_50">
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<property name="toolTip">
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<string>0 means that the response (hessian) threshold
|
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used for the detector will not be adapted.
|
||||
Otherwise, the threshold is modified to
|
||||
generate the number of words requested.</string>
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||||
</property>
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<property name="text">
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||||
<string>Number of rows of the grid used to extract uniformly "max words / grid cells" features from each cell.</string>
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||||
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
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||||
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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||||
</widget>
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||||
</item>
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||||
<item row="10" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_KPGridRows">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_KPGridCols">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_86">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
used for the detector will not be adapted.
|
||||
Otherwise, the threshold is modified to
|
||||
generate the number of words requested.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Number of columns of the grid used to extract uniformly "max words / grid cells" features from each cell.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -10296,7 +10440,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<item>
|
||||
<widget class="QStackedWidget" name="stackedWidget_odometryType">
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
<number>5</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_52">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_77">
|
||||
@@ -12010,6 +12154,67 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_444">
|
||||
<property name="text">
|
||||
<string>Camera FPS. This parameter is linked to "Input rate" of the Source panel.</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="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAM2Fps">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>999.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_445">
|
||||
<property name="text">
|
||||
<string>Maximum ORB features extracted per frame.</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="QSpinBox" name="spinBox_OdomORBSLAM2MaxFeatures">
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
@@ -12617,7 +12822,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_370">
|
||||
<property name="text">
|
||||
<string>Normalize covariance values. Position variances are multiplied by norm of the transform and orientation variances are multiplied by angle of the transform.</string>
|
||||
<string>Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration. It can be useful if the registration approach used can use a guess to get better matches.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -12628,7 +12833,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="reg_varianceNormalized">
|
||||
<widget class="QCheckBox" name="reg_repeatOnce">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -12733,7 +12938,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_298">
|
||||
<property name="text">
|
||||
<string>Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).</string>
|
||||
@@ -12746,15 +12951,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_forwardEst">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_bowVarianceFromInliersCount">
|
||||
<widget class="QCheckBox" name="loopClosure_forwardEst">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -12799,19 +12997,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_262">
|
||||
<property name="text">
|
||||
<string>Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.</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_2">
|
||||
<property name="text">
|
||||
@@ -12825,7 +13010,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<item row="6" column="0">
|
||||
<widget class="QComboBox" name="loopClosure_bundle">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
|
||||
@@ -12847,7 +13032,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_346">
|
||||
<property name="text">
|
||||
<string>Refine transformation with bundle adjustment. See Optimizer panel.</string>
|
||||
@@ -12869,7 +13054,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
<widget class="QWidget" name="page_54">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_85">
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -13009,7 +13203,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_55">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_86">
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -13167,7 +13370,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -13247,7 +13459,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -13359,7 +13580,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -13619,6 +13849,58 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QSpinBox" name="reextract_gridrows">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_438">
|
||||
<property name="text">
|
||||
<string>Number of rows of the grid used to extract uniformly "max features / grid cells" features from each cell.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_439">
|
||||
<property name="text">
|
||||
<string>Number of columns of the grid used to extract uniformly "max features / grid cells" features from each cell.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QSpinBox" name="reextract_gridcols">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -14014,7 +14296,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
@@ -14812,10 +15094,18 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="stereo_minDisparity"/>
|
||||
<widget class="QDoubleSpinBox" name="stereo_minDisparity">
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="stereo_maxDisparity"/>
|
||||
<widget class="QDoubleSpinBox" name="stereo_maxDisparity">
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
|
||||
Reference in New Issue
Block a user