mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
util3d_filtering: refactored implementations using templates. Parameters: Changed Grid/DepthMin|Max to Grid/RangeMin|Max, added Grid/PreVoxelFiltering, added GridBlobal/OctoMapOccupancyThr. OccupancyGrid: supporting input clouds already having normals. Memory: don't save working directory parameter to database.
This commit is contained in:
matlabbe
@@ -63,9 +63,9 @@
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<x>0</x>
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@@ -95,7 +95,7 @@
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<number>5</number>
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@@ -2042,32 +2042,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<item row="5" column="1">
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<widget class="QLabel" name="label_octomap_treeDepth_4">
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<property name="text">
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<string>Occupancy threshold.</string>
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<property name="wordWrap">
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<bool>true</bool>
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<double>0.500000000000000</double>
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@@ -2120,6 +2094,16 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<widget class="QCheckBox" name="checkBox_octomap_2dgrid">
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<item row="0" column="1">
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<widget class="QLabel" name="label_octomap_treeDepth_3">
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<property name="text">
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@@ -2146,16 +2130,6 @@ 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="1" column="0">
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<widget class="QCheckBox" name="checkBox_octomap_2dgrid">
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<property name="checked">
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<bool>false</bool>
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<item row="1" column="1">
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<widget class="QLabel" name="label_octomap_treeDepth_8">
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<property name="text">
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@@ -9314,6 +9288,16 @@ 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="0" column="0">
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<widget class="QCheckBox" name="checkbox_rgbd_createOccupancyGrid">
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<property name="text">
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<string/>
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<property name="checked">
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<bool>false</bool>
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<item row="8" column="1">
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<widget class="QLabel" name="label_325">
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<property name="text">
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@@ -9346,8 +9330,8 @@ 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="0" column="0">
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<widget class="QCheckBox" name="checkbox_rgbd_createOccupancyGrid">
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<item row="1" column="0">
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<widget class="QCheckBox" name="checkBox_grid_projMapFrame">
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<property name="text">
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<string/>
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@@ -9382,8 +9366,85 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="1" column="0">
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<property name="text">
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<string>Minimum range from the sensor.</string>
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<bool>true</bool>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minDepth">
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<property name="suffix">
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<string> m</string>
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<number>1</number>
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<item row="4" column="1">
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<widget class="QLabel" name="label_320">
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<property name="text">
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<string>Maximum range from the sensor (0 means no limit).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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<string> m</string>
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<double>4.000000000000000</double>
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<item row="14" column="1">
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<widget class="QLabel" name="label_456">
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<property name="text">
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<string>Input cloud is downsampled by voxel filter (voxel size is cell size) before doing segmentation of obstacles and ground.</string>
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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="14" column="0">
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<widget class="QCheckBox" name="checkBox_grid_preVoxelFiltering">
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<property name="text">
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<string/>
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</property>
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@@ -9444,70 +9505,6 @@ 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="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_minDepth">
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<property name="suffix">
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<string> m</string>
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<property name="decimals">
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<number>1</number>
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<property name="maximum">
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<double>100.000000000000000</double>
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<double>0.100000000000000</double>
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<double>0.000000000000000</double>
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<item row="1" column="1">
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<widget class="QLabel" name="label_323">
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<property name="text">
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<string>Minimum depth.</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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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_maxDepth">
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<property name="suffix">
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<string> m</string>
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<property name="decimals">
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<number>1</number>
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<property name="maximum">
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<double>100.000000000000000</double>
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<property name="singleStep">
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<double>0.100000000000000</double>
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<property name="value">
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<double>4.000000000000000</double>
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<item row="2" column="1">
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<widget class="QLabel" name="label_320">
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<property name="text">
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<string>Maximum depth (0 means no limit).</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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<item row="3" column="0">
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<widget class="QLineEdit" name="lineEdit_grid_roi">
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<property name="readOnly">
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@@ -9908,7 +9905,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<item row="6" 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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@@ -9934,7 +9931,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<item row="6" column="0">
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<widget class="QCheckBox" name="checkBox_grid_erode">
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<property name="text">
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<string/>
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@@ -9944,6 +9941,13 @@ 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="3" column="0">
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<widget class="QSpinBox" name="spinBox_grid_maxNodes">
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<property name="maximum">
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<number>9999</number>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_grid_footprintRadius">
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<property name="suffix">
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@@ -9976,13 +9980,6 @@ 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="3" column="0">
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<widget class="QSpinBox" name="spinBox_grid_maxNodes">
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<property name="maximum">
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<number>9999</number>
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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="QDoubleSpinBox" name="doubleSpinBox_grid_minMapSize">
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<property name="suffix">
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@@ -10053,6 +10050,38 @@ 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="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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</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="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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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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