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Added new parameter: RGBD/AggressiveLoopThr

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matlabbe
2024-06-19 10:28:17 -07:00
parent 7c601bb6e8
commit 4c1822683a
6 changed files with 78 additions and 41 deletions
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1
guilib/src/PreferencesDialog.cpp
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@@ -1010,6 +1010,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Create hypotheses
_ui->general_doubleSpinBox_hardThr->setObjectName(Parameters::kRtabmapLoopThr().c_str());
_ui->general_doubleSpinBox_agressiveThr->setObjectName(Parameters::kRGBDAggressiveLoopThr().c_str());
_ui->general_doubleSpinBox_loopRatio->setObjectName(Parameters::kRtabmapLoopRatio().c_str());
_ui->comboBox_virtualPlaceLikelihoodRatio->setObjectName(Parameters::kRtabmapVirtualPlaceLikelihoodRatio().c_str());
_ui->comboBox_globalDescriptorExtractor->setObjectName(Parameters::kMemGlobalDescriptorStrategy().c_str());

88
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-640</y>
<y>0</y>
<width>713</width>
<height>4653</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>7</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -9538,6 +9538,45 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>Thresholds</string>
</property>
<layout class="QGridLayout" name="gridLayout_44" columnstretch="0,1">
<item row="1" column="1">
<widget class="QLabel" name="label_maxWmSize">
<property name="text">
<string>Maximum signatures allowed in Working Memory (0 means inf).</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="QLabel" name="label_96">
<property name="text">
<string>T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue.</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="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.950000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr">
<property name="suffix">
@@ -9580,32 +9619,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_maxWmSize">
<property name="text">
<string>Maximum signatures allowed in Working Memory (0 means inf).</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="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.950000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_93">
<property name="text">
@@ -9619,7 +9632,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_loopRatio">
<property name="maximum">
<double>1.000000000000000</double>
@@ -9633,9 +9646,9 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_96">
<widget class="QLabel" name="label_332">
<property name="text">
<string>T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue.</string>
<string>Loop closure threshold used (overriding T_loop) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (see &quot;Max odometry cache size&quot; under RGB-D SLAM panel). In all cases, the goal is to aggressively loop on a previous map in the database that is not linked to current map. Only used when RGB-D SLAM mode is enabled. Set 1 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -9645,6 +9658,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_agressiveThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>