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Removed DisableReactivation parameter (indirectly included by the RetrievalThr when = to 1)

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Some default parameters' values modified for robot learning

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@316 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-09-16 17:37:54 +00:00
parent 3eb8bcbfa4
commit 4a3317dd06
7 changed files with 41 additions and 72 deletions
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4
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -124,7 +124,7 @@ public:
//specific
double getLoopThr() const;
double getReacThr() const;
double getRetrievalThr() const;
double getVpThr() const;
double getExpThr() const;
@@ -134,7 +134,7 @@ signals:
public slots:
void setHardThr(int value);
void setReactivationThr(int value);
void setRetrievalThr(int value);
void setImgRate(double value);
void setAutoRestart(bool value);
void setTimeLimit(double value);

6
guilib/src/MainWindow.cpp
View File

@@ -142,7 +142,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
ThresholdCurve * tc;
tc = _ui->posteriorPlot->addThreshold("Loop closure thr", float(_preferencesDialog->getLoopThr()));
connect(this, SIGNAL(loopClosureThrChanged(float)), tc, SLOT(setThreshold(float)));
tc = _ui->posteriorPlot->addThreshold("Retrieval thr", float(_preferencesDialog->getReacThr()));
tc = _ui->posteriorPlot->addThreshold("Retrieval thr", float(_preferencesDialog->getRetrievalThr()));
connect(this, SIGNAL(loopClosureThrChanged(float)), tc, SLOT(setThreshold(float)));
_likelihoodCurve = new PdfPlotCurve("Likelihood", &_imagesMap, this);
@@ -552,7 +552,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
float value;
value = float(_preferencesDialog->getLoopThr());
emit(loopClosureThrChanged(value));
value = float(_preferencesDialog->getReacThr());
value = float(_preferencesDialog->getRetrievalThr());
emit(retrievalThrChanged(value));
}
if(!stat.likelihood().empty() && _ui->dockWidget_likelihood->isVisible())
@@ -700,7 +700,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters)
float value;
value = float(_preferencesDialog->getLoopThr());
emit(loopClosureThrChanged(value));
value = float(_preferencesDialog->getReacThr());
value = float(_preferencesDialog->getRetrievalThr());
emit(retrievalThrChanged(value));
}

13
guilib/src/PreferencesDialog.cpp
View File

@@ -104,10 +104,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Map objects name with the corresponding parameter key, needed for the addParameter() slots
//Rtabmap
_ui->general_doubleSpinBox_reactivationThr->setObjectName(Parameters::kRtabmapReactivationThr().c_str());
_ui->general_doubleSpinBox_retrievalThr->setObjectName(Parameters::kRtabmapRetrievalThr().c_str());
_ui->general_checkBox_publishStats->setObjectName(Parameters::kRtabmapPublishStats().c_str());
_ui->general_doubleSpinBox_timeThr->setObjectName(Parameters::kRtabmapTimeThr().c_str());
_ui->general_checkBox_disableReactivation->setObjectName(Parameters::kRtabmapDisableReactivation().c_str());
_ui->general_spinBox_imagesBufferSize->setObjectName(Parameters::kRtabmapSMStateBufferSize().c_str());
_ui->general_spinBox_minMemorySizeForLoopDetection->setObjectName(Parameters::kRtabmapMinMemorySizeForLoopDetection().c_str());
_ui->general_spinBox_maxRetrieved->setObjectName(Parameters::kRtabmapMaxRetrieved().c_str());
@@ -1554,9 +1553,9 @@ double PreferencesDialog::getLoopThr() const
{
return _ui->general_doubleSpinBox_hardThr->value();
}
double PreferencesDialog::getReacThr() const
double PreferencesDialog::getRetrievalThr() const
{
return _ui->general_doubleSpinBox_reactivationThr->value();
return _ui->general_doubleSpinBox_retrievalThr->value();
}
double PreferencesDialog::getVpThr() const
{
@@ -1591,13 +1590,13 @@ void PreferencesDialog::setHardThr(int value)
}
}
void PreferencesDialog::setReactivationThr(int value)
void PreferencesDialog::setRetrievalThr(int value)
{
double dValue = double(value)/100;
ULOGGER_DEBUG("reactivation thr=%f", dValue);
if(_ui->general_doubleSpinBox_reactivationThr->value() != dValue)
if(_ui->general_doubleSpinBox_retrievalThr->value() != dValue)
{
_ui->general_doubleSpinBox_reactivationThr->setValue(dValue);
_ui->general_doubleSpinBox_retrievalThr->setValue(dValue);
if(validateForm())
{
this->writeSettings();

53
guilib/src/ui/preferencesDialog.ui
View File

@@ -65,7 +65,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>2</number>
<number>4</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1136,8 +1136,8 @@ We can edit how will like the prediction used in the Bayes filter when there is
<rect>
<x>0</x>
<y>0</y>
<width>98</width>
<height>64</height>
<width>508</width>
<height>138</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
@@ -1362,9 +1362,9 @@ The VP here is the probability to be in a new place since no loop closure was fo
<property name="title">
<string>1Memory strategy</string>
</property>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,10">
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,0">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_reactivationThr">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_retrievalThr">
<property name="minimumSize">
<size>
<width>50</width>
@@ -1393,30 +1393,13 @@ The VP here is the probability to be in a new place since no loop closure was fo
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_disableReactivation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_36">
<property name="text">
<string>Disable memory retrieval</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_reactivatedWordsComparedToNewWords">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="1" column="1">
<widget class="QLabel" name="label_79">
<property name="text">
<string>Retrieved words are compared to the last words added in the dictionary (which are not yet indexed, may be add a time overhead for a minor likelihood improvement)</string>
@@ -1426,7 +1409,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
<number>1</number>
@@ -1439,7 +1422,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="4" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>Short-time memory size</string>
@@ -1449,7 +1432,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="5" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="general_checkBox_incrementalMemory">
<property name="text">
<string/>
@@ -1459,7 +1442,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="5" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_57">
<property name="text">
<string>Incremental Memory</string>
@@ -1469,7 +1452,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="6" column="0">
<item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_commonSignatureUsed">
<property name="text">
<string/>
@@ -1479,7 +1462,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="6" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_83">
<property name="text">
<string>Common signature used (virtual place)</string>
@@ -1489,7 +1472,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="7" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>(iterations) Delay required to transfer a signature to the database</string>
@@ -1499,7 +1482,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="7" column="0">
<item row="6" column="0">
<widget class="QSpinBox" name="mem_spinBox_delayRequired">
<property name="minimumSize">
<size>
@@ -1509,7 +1492,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="3" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_177">
<property name="text">
<string>Clean the neighborhood of the retrieved id</string>
@@ -1519,7 +1502,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_localGraphCleaned">
<property name="text">
<string/>
@@ -1529,7 +1512,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="8" column="0">
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
<property name="minimumSize">
<size>
@@ -1548,7 +1531,7 @@ The VP here is the probability to be in a new place since no loop closure was fo
</property>
</widget>
</item>
<item row="8" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_33">
<property name="text">
<string>Ratio of locations after the last loop closure in WM that cannot be transferred</string>