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Added "RGBD/ProximityPathMaxNeighbors" parameter

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matlabbe
2016-08-25 14:30:23 -04:00
parent edee909324
commit 4d8200fef3
5 changed files with 41 additions and 13 deletions
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43
guilib/src/ui/preferencesDialog.ui
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@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>13</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -7185,7 +7185,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="3" column="1">
<widget class="QLabel" name="label_scanMatching">
<property name="text">
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using ICP (laser scans required!).</string>
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using the registration approach selected.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7352,7 +7352,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
<item>
<layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
<item row="3" column="0">
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
<property name="suffix">
<string> m</string>
@@ -7368,7 +7368,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_scanMatching_4">
<property name="text">
<string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</string>
@@ -7381,7 +7381,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_space3_3">
<property name="text">
<string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore. A path should also be inside that radius to be considered for proximity detection.</string>
@@ -7394,7 +7394,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
<property name="text">
<string/>
@@ -7424,7 +7424,7 @@ 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_scanMatching_6">
<property name="text">
<string>Save scan matching IDs in link's user data.</string>
@@ -7437,14 +7437,14 @@ 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="checkBox_localSpaceScanMatchingIDsSaved">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_scanMatching_8">
<property name="text">
<string>Maximum angle for visual proximity detection.</string>
@@ -7457,7 +7457,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="localDetection_angle">
<property name="suffix">
<string> deg</string>
@@ -7496,6 +7496,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_space3_8">
<property name="text">
<string>Maximum neighbor nodes compared on each path.</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="QSpinBox" name="localDetection_maxNeighbors">
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>