i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update version 0.10.11:

Browse Source 
-Added parameter "Mem/ReduceGraph" with new link type (NeighborMerged)
-DatabaseViewer: add Info panel, fixed empty extracted database when "RGB images" is not checked
-ConsoleWidget: added buffer size and refresh rate options
-DBDriver: new database info getters
-Graph: added reduceGraph() method, added Dijsktra computePath() with links only
-Updated default parameters: RGBD/LocalLoopDetectionSpace=true, RGBD/LinearUpdate=0.1 and RGBD/AngularUpdate=0.1
-Goals are saved with label instead of ID if the target node has a label
-DataRecorder: fixed saving incrementally the database (instead of only at the end)
-MainWindow: When waypoints are used, resend the current goal (1 sec delay) if it has failed setting it
This commit is contained in:
matlabbe
2015-10-24 17:03:44 -04:00
parent 957498b5a3
commit 463a5d973c
32 changed files with 1820 additions and 314 deletions
Download Patch File Download Diff File Expand all files Collapse all files

262
guilib/src/ui/DatabaseViewer.ui
View File

@@ -50,7 +50,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>197</width>
<width>166</width>
<height>173</height>
</rect>
</property>
@@ -236,7 +236,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>196</width>
<width>165</width>
<height>173</height>
</rect>
</property>
@@ -739,7 +739,7 @@
<item row="5" column="1">
<widget class="QLabel" name="label_52">
<property name="text">
<string>Nodes</string>
<string>Poses</string>
</property>
</widget>
</item>
@@ -753,14 +753,14 @@
<item row="6" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Loop closures (G, LS, LT, U)</string>
<string>Links (N, NM, G, LS, LT, U)</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Total path length (m)</string>
<string>Path length (m)</string>
</property>
</widget>
</item>
@@ -800,7 +800,7 @@
</layout>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_nodes">
<widget class="QLabel" name="label_poses">
<property name="text">
<string/>
</property>
@@ -836,7 +836,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>314</width>
<width>338</width>
<height>303</height>
</rect>
</property>
@@ -1055,7 +1055,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-129</y>
<y>0</y>
<width>351</width>
<height>407</height>
</rect>
@@ -1389,7 +1389,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>333</width>
<width>338</width>
<height>333</height>
</rect>
</property>
@@ -1628,7 +1628,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>276</width>
<width>338</width>
<height>377</height>
</rect>
</property>
@@ -1885,8 +1885,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>201</width>
<height>117</height>
<width>351</width>
<height>176</height>
</rect>
</property>
<attribute name="label">
@@ -1985,7 +1985,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>285</width>
<width>338</width>
<height>309</height>
</rect>
</property>
@@ -2330,6 +2330,242 @@
</layout>
</widget>
</widget>
<widget class="QDockWidget" name="dockWidget_info">
<property name="windowTitle">
<string>Info</string>
</property>
<attribute name="dockWidgetArea">
<number>2</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_4">
<layout class="QVBoxLayout" name="verticalLayout_12">
<item>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
<item row="0" column="0">
<widget class="QLabel" name="label_70">
<property name="text">
<string>Database version</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_version">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_69">
<property name="text">
<string>Sessions</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_sessions">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Nodes</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_nodes">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Dictionary</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_words">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_78">
<property name="text">
<string>Global map</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_global_map">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_79">
<property name="text">
<string>Working memory</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_wm">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_77">
<property name="text">
<string>Last dictionary</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_dictionary">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_74">
<property name="text">
<string>Odometry</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_odom">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1">
<item row="0" column="0">
<widget class="QLabel" name="label_68">
<property name="text">
<string>Database size</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_db_size">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_72">
<property name="text">
<string>RGB images</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_rgb_size">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_73">
<property name="text">
<string>Depth images</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_depth_size">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_71">
<property name="text">
<string>Laser scans</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_scan_size">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_75">
<property name="text">
<string>User data </string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_userData_size">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_76">
<property name="text">
<string>Dictionary</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_words_size">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_7">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
<action name="actionOpen_database">
<property name="text">
<string>Open database</string>

43
guilib/src/ui/consoleWidget.ui
View File

@@ -25,11 +25,44 @@
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_clear">
<property name="text">
<string>Clear</string>
</property>
</widget>
<layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,1">
<item>
<widget class="QSpinBox" name="spinBox_lines">
<property name="suffix">
<string> lines</string>
</property>
<property name="maximum">
<number>99999</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="spinBox_time">
<property name="suffix">
<string> ms</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>1000</number>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_clear">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>

47
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-390</y>
<y>0</y>
<width>760</width>
<height>1705</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>19</number>
<number>7</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -3950,7 +3950,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxel">
<property name="minimumSize">
<size>
@@ -3975,7 +3975,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QSpinBox" name="spinBox_imageDecimation">
<property name="minimum">
<number>1</number>
@@ -4017,7 +4017,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
@@ -4115,7 +4115,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text">
<string/>
@@ -4125,7 +4125,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_retrieved_5">
<property name="text">
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
@@ -4138,7 +4138,7 @@ 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="8" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
@@ -4148,7 +4148,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
@@ -4184,7 +4184,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_retrieved_8">
<property name="text">
<string>If &gt; 0.0, voxelize laser scans when creating a location. This feature can be used to save laser scans already voxelized.</string>
@@ -4197,7 +4197,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_retrieved_9">
<property name="text">
<string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string>
@@ -4210,7 +4210,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
<property name="text">
<string/>
@@ -4220,6 +4220,29 @@ 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_retrieved_10">
<property name="text">
<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</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="0">
<widget class="QCheckBox" name="general_checkBox_reduceGraph">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>