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MacOSX: (g2o) Fixed cholmod library not found. New ICP parameter: "Icp/Epsilon". Fixed null ICP_inliers_ratio with odometry statistics.

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This commit is contained in:
matlabbe
2016-01-12 11:37:50 -05:00
parent 42e1590abe
commit 5136b38111
15 changed files with 82 additions and 34 deletions
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1
guilib/src/PreferencesDialog.cpp
View File

@@ -672,6 +672,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icpDownsamplingStep->setObjectName(Parameters::kIcpDownsamplingStep().c_str());
_ui->loopClosure_icpMaxCorrespondenceDistance->setObjectName(Parameters::kIcpMaxCorrespondenceDistance().c_str());
_ui->loopClosure_icpIterations->setObjectName(Parameters::kIcpIterations().c_str());
_ui->loopClosure_icpEpsilon->setObjectName(Parameters::kIcpEpsilon().c_str());
_ui->loopClosure_icpRatio->setObjectName(Parameters::kIcpCorrespondenceRatio().c_str());
_ui->loopClosure_icpPointToPlane->setObjectName(Parameters::kIcpPointToPlane().c_str());
_ui->loopClosure_icpPointToPlaneNormals->setObjectName(Parameters::kIcpPointToPlaneNormalNeighbors().c_str());

51
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-880</y>
<y>0</y>
<width>676</width>
<height>1982</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>14</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8923,7 +8923,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</item>
<item>
<layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
<item row="7" column="0">
<item row="8" column="0">
<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
<property name="text">
<string/>
@@ -8969,7 +8969,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
<property name="minimum">
<double>0.000000000000000</double>
@@ -8985,7 +8985,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_133">
<property name="text">
<string>Ratio of matching correspondences to accept the transform. If the maximum laser scans is set, this is the minimum ratio of correspondences on laser scan maximum size to accept the transform.</string>
@@ -8998,7 +8998,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_212">
<property name="text">
<string>Number of neighbors to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
@@ -9011,7 +9011,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QSpinBox" name="loopClosure_icpPointToPlaneNormals">
<property name="minimum">
<number>1</number>
@@ -9165,7 +9165,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_144">
<property name="text">
<string>Point to plane ICP. Only for ICP 3D.</string>
@@ -9178,6 +9178,41 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_136">
<property name="text">
<string>Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.</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="QDoubleSpinBox" name="loopClosure_icpEpsilon">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>