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Tuning localization priors (added RGBD/LocalizationPriorError parameter) (#1156)

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* tuning localization priors (for https://github.com/introlab/rtabmap_ros/issues/1057)

* Set prior error value to same than old default value
This commit is contained in:
matlabbe
2023-11-05 15:14:11 -08:00
committed by GitHub
parent 45a3b59a23
commit 56552afa6c
5 changed files with 358 additions and 294 deletions
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1
corelib/include/rtabmap/core/Parameters.h
View File

@@ -377,6 +377,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links."); RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.");
RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str())); RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str())); RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
// Local/Proximity loop closure detection // Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM."); RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");

1
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -327,6 +327,7 @@ private:
bool _loopGPS; bool _loopGPS;
int _maxOdomCacheSize; int _maxOdomCacheSize;
bool _localizationSmoothing; bool _localizationSmoothing;
double _localizationPriorInf;
bool _createGlobalScanMap; bool _createGlobalScanMap;
float _markerPriorsLinearVariance; float _markerPriorsLinearVariance;
float _markerPriorsAngularVariance; float _markerPriorsAngularVariance;

39
corelib/src/Rtabmap.cpp
View File

@@ -148,6 +148,7 @@ Rtabmap::Rtabmap() :
_loopGPS(Parameters::defaultRtabmapLoopGPS()), _loopGPS(Parameters::defaultRtabmapLoopGPS()),
_maxOdomCacheSize(Parameters::defaultRGBDMaxOdomCacheSize()), _maxOdomCacheSize(Parameters::defaultRGBDMaxOdomCacheSize()),
_localizationSmoothing(Parameters::defaultRGBDLocalizationSmoothing()), _localizationSmoothing(Parameters::defaultRGBDLocalizationSmoothing()),
_localizationPriorInf(1.0/(Parameters::defaultRGBDLocalizationPriorError()*Parameters::defaultRGBDLocalizationPriorError())),
_createGlobalScanMap(Parameters::defaultRGBDProximityGlobalScanMap()), _createGlobalScanMap(Parameters::defaultRGBDProximityGlobalScanMap()),
_markerPriorsLinearVariance(Parameters::defaultMarkerPriorsVarianceLinear()), _markerPriorsLinearVariance(Parameters::defaultMarkerPriorsVarianceLinear()),
_markerPriorsAngularVariance(Parameters::defaultMarkerPriorsVarianceAngular()), _markerPriorsAngularVariance(Parameters::defaultMarkerPriorsVarianceAngular()),
@@ -620,6 +621,10 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRtabmapLoopGPS(), _loopGPS); Parameters::parse(parameters, Parameters::kRtabmapLoopGPS(), _loopGPS);
Parameters::parse(parameters, Parameters::kRGBDMaxOdomCacheSize(), _maxOdomCacheSize); Parameters::parse(parameters, Parameters::kRGBDMaxOdomCacheSize(), _maxOdomCacheSize);
Parameters::parse(parameters, Parameters::kRGBDLocalizationSmoothing(), _localizationSmoothing); Parameters::parse(parameters, Parameters::kRGBDLocalizationSmoothing(), _localizationSmoothing);
double localizationPriorError = Parameters::defaultRGBDLocalizationPriorError();
Parameters::parse(parameters, Parameters::kRGBDLocalizationPriorError(), localizationPriorError);
UASSERT(localizationPriorError>0.0);
_localizationPriorInf = 1.0/(localizationPriorError*localizationPriorError);
Parameters::parse(parameters, Parameters::kRGBDProximityGlobalScanMap(), _createGlobalScanMap); Parameters::parse(parameters, Parameters::kRGBDProximityGlobalScanMap(), _createGlobalScanMap);
Parameters::parse(parameters, Parameters::kMarkerPriorsVarianceLinear(), _markerPriorsLinearVariance); Parameters::parse(parameters, Parameters::kMarkerPriorsVarianceLinear(), _markerPriorsLinearVariance);
@@ -3137,15 +3142,19 @@ bool Rtabmap::process(
{ {
constraints.insert(std::make_pair(iter->second.from(), iter->second)); constraints.insert(std::make_pair(iter->second.from(), iter->second));
} }
cv::Mat priorInfMat = cv::Mat::eye(6,6, CV_64FC1)*_localizationPriorInf;
for(std::multimap<int, Link>::iterator iter=constraints.begin(); iter!=constraints.end(); ++iter) for(std::multimap<int, Link>::iterator iter=constraints.begin(); iter!=constraints.end(); ++iter)
{ {
std::map<int, Transform>::iterator iterPose = _optimizedPoses.find(iter->second.to()); std::map<int, Transform>::iterator iterPose = _optimizedPoses.find(iter->second.to());
if(iterPose != _optimizedPoses.end() && poses.find(iterPose->first) == poses.end()) if(iterPose != _optimizedPoses.end() && poses.find(iterPose->first) == poses.end())
{ {
poses.insert(*iterPose); poses.insert(*iterPose);
// make the poses in the map fixed if(iterPose->first > 0)
constraints.insert(std::make_pair(iterPose->first, Link(iterPose->first, iterPose->first, Link::kPosePrior, iterPose->second, cv::Mat::eye(6,6, CV_64FC1)*1000000))); {
UDEBUG("Constraint %d->%d (type=%s)", iterPose->first, iterPose->first, Link::typeName(Link::kPosePrior).c_str()); // make the poses in the map fixed
constraints.insert(std::make_pair(iterPose->first, Link(iterPose->first, iterPose->first, Link::kPosePrior, iterPose->second, priorInfMat)));
UDEBUG("Constraint %d->%d (type=%s)", iterPose->first, iterPose->first, Link::typeName(Link::kPosePrior).c_str());
}
} }
UDEBUG("Constraint %d->%d (type=%s, var = %f %f)", iter->second.from(), iter->second.to(), iter->second.typeName().c_str(), iter->second.transVariance(), iter->second.rotVariance()); UDEBUG("Constraint %d->%d (type=%s, var = %f %f)", iter->second.from(), iter->second.to(), iter->second.typeName().c_str(), iter->second.transVariance(), iter->second.rotVariance());
} }
@@ -3163,7 +3172,17 @@ bool Rtabmap::process(
// If slam2d: get connected graph while keeping original roll,pitch,z values. // If slam2d: get connected graph while keeping original roll,pitch,z values.
_graphOptimizer->getConnectedGraph(signature->id(), poses, constraints, posesOut, edgeConstraintsOut, !_graphOptimizer->isSlam2d()); _graphOptimizer->getConnectedGraph(signature->id(), poses, constraints, posesOut, edgeConstraintsOut, !_graphOptimizer->isSlam2d());
cv::Mat locOptCovariance; cv::Mat locOptCovariance;
std::map<int, Transform> optPoses = _graphOptimizer->optimize(poses.begin()->first, posesOut, edgeConstraintsOut, locOptCovariance); std::map<int, Transform> optPoses;
if(poses.lower_bound(1) != poses.end() &&
_odomCachePoses.lower_bound(1) != poses.end() &&
poses.lower_bound(1)->first < _odomCachePoses.lower_bound(1)->first)
{
optPoses = _graphOptimizer->optimize(poses.lower_bound(1)->first, posesOut, edgeConstraintsOut, locOptCovariance);
}
else
{
UERROR("Invalid localization constraints");
}
_graphOptimizer->setPriorsIgnored(priorsIgnored); // set back _graphOptimizer->setPriorsIgnored(priorsIgnored); // set back
for(std::map<int, Transform>::iterator iter=optPoses.begin(); iter!=optPoses.end(); ++iter) for(std::map<int, Transform>::iterator iter=optPoses.begin(); iter!=optPoses.end(); ++iter)
{ {
@@ -3303,7 +3322,17 @@ bool Rtabmap::process(
_graphOptimizer->setPriorsIgnored(false); //temporary set false to use priors above to fix nodes of the map _graphOptimizer->setPriorsIgnored(false); //temporary set false to use priors above to fix nodes of the map
// If slam2d: get connected graph while keeping original roll,pitch,z values. // If slam2d: get connected graph while keeping original roll,pitch,z values.
_graphOptimizer->getConnectedGraph(signature->id(), poses, constraints, posesOut, edgeConstraintsOut, !_graphOptimizer->isSlam2d()); _graphOptimizer->getConnectedGraph(signature->id(), poses, constraints, posesOut, edgeConstraintsOut, !_graphOptimizer->isSlam2d());
optPoses = _graphOptimizer->optimize(poses.begin()->first, posesOut, edgeConstraintsOut, locOptCovariance); optPoses.clear();
if(poses.lower_bound(1) != poses.end() &&
_odomCachePoses.lower_bound(1) != poses.end() &&
poses.lower_bound(1)->first < _odomCachePoses.lower_bound(1)->first)
{
optPoses = _graphOptimizer->optimize(poses.lower_bound(1)->first, posesOut, edgeConstraintsOut, locOptCovariance);
}
else
{
UERROR("Invalid localization constraints");
}
_graphOptimizer->setPriorsIgnored(priorsIgnored); // set back _graphOptimizer->setPriorsIgnored(priorsIgnored); // set back
for(std::map<int, Transform>::iterator iter=optPoses.begin(); iter!=optPoses.end(); ++iter) for(std::map<int, Transform>::iterator iter=optPoses.begin(); iter!=optPoses.end(); ++iter)
{ {

1
guilib/src/PreferencesDialog.cpp
View File

@@ -1154,6 +1154,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->RGBDMarkerDetection->setObjectName(Parameters::kRGBDMarkerDetection().c_str()); _ui->RGBDMarkerDetection->setObjectName(Parameters::kRGBDMarkerDetection().c_str());
_ui->spinBox_maxOdomCacheSize->setObjectName(Parameters::kRGBDMaxOdomCacheSize().c_str()); _ui->spinBox_maxOdomCacheSize->setObjectName(Parameters::kRGBDMaxOdomCacheSize().c_str());
_ui->checkbox_localizationSmoothing->setObjectName(Parameters::kRGBDLocalizationSmoothing().c_str()); _ui->checkbox_localizationSmoothing->setObjectName(Parameters::kRGBDLocalizationSmoothing().c_str());
_ui->doubleSpinBox_localizationPriorError->setObjectName(Parameters::kRGBDLocalizationPriorError().c_str());
// Registration // Registration
_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str()); _ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());

610
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-942</y> <y>-844</y>
<width>756</width> <width>756</width>
<height>3736</height> <height>4371</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>21</number> <number>12</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -11295,49 +11295,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>Map Update</string> <string>Map Update</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1">
<item row="5" column="0"> <item row="0" column="1">
<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange"> <widget class="QLabel" name="label_153">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
<property name="suffix">
<string> m/s</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="loopClosure_identityGuess">
<property name="text"> <property name="text">
<string/> <string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_scanMatching_7">
<property name="text">
<string>Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if &quot;Optimizer/GravitySigma&quot; is not zero.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -11347,10 +11308,109 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="1"> <item row="15" column="1">
<widget class="QLabel" name="label_153"> <widget class="QLabel" name="label_scanMatching_5">
<property name="text"> <property name="text">
<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string> <string>Ratio of working memory for which local nodes are immunized from transfer.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="19" column="1">
<widget class="QLabel" name="label_space2_18">
<property name="text">
<string>Localization smoothing. Used only in localization mode. Adjust localization constraints based on optimized odometry cache poses.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="17" column="1">
<widget class="QLabel" name="label_space2_12">
<property name="text">
<string>Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="rgbd_loopCovLimited">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="memCovOffDiagIgnored">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QDoubleSpinBox" name="localDetection_radius">
<property name="suffix">
<string> m</string>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_space2">
<property name="text">
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -11373,156 +11433,32 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="8" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate"> <widget class="QCheckBox" name="loopClosure_identityGuess">
<property name="suffix">
<string> rad/s</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="odomScanHistory">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="14" column="0"> <item row="5" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/> <widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_scanMatching_16">
<property name="text">
<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_space2">
<property name="text">
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="18" column="1">
<widget class="QLabel" name="label_space2_5">
<property name="text">
<string>Maximum odometry cache size. Used only in localization mode. This is used to get smoother localizations and to verify localization transforms (when maximum graph error is not null) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="odomGravity">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QDoubleSpinBox" name="localDetection_radius">
<property name="suffix"> <property name="suffix">
<string> m</string> <string> m</string>
</property> </property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value"> <property name="value">
<double>1.000000000000000</double> <double>1.000000000000000</double>
</property> </property>
</widget> </widget>
</item> </item>
<item row="14" column="1">
<widget class="QLabel" name="label_scanMatching_3">
<property name="text">
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_scanMatching_14">
<property name="text">
<string>Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used (assuming that registration strategy can deal with transformation estimation without guess).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0"> <item row="10" column="0">
<widget class="QCheckBox" name="loopClosure_bunlde"> <widget class="QCheckBox" name="loopClosure_bunlde">
<property name="text"> <property name="text">
@@ -11530,13 +11466,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="11" column="0">
<widget class="QCheckBox" name="loopClosure_invertedReg">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="13" column="1"> <item row="13" column="1">
<widget class="QLabel" name="label_scanMatching_12"> <widget class="QLabel" name="label_scanMatching_12">
<property name="text"> <property name="text">
@@ -11550,11 +11479,37 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="0"> <item row="17" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate"> <widget class="QDoubleSpinBox" name="maxLocalizationDistance">
<property name="suffix"> <property name="suffix">
<string> m</string> <string> m</string>
</property> </property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_scanMatching_10">
<property name="text">
<string>Do local bundle adjustment with neighborhood of the loop closure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
<property name="suffix">
<string> m/s</string>
</property>
<property name="decimals"> <property name="decimals">
<number>3</number> <number>3</number>
</property> </property>
@@ -11583,13 +11538,68 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="0"> <item row="8" column="1">
<widget class="QCheckBox" name="memCovOffDiagIgnored"> <widget class="QLabel" name="label_scanMatching_14">
<property name="text">
<string>Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used (assuming that registration strategy can deal with transformation estimation without guess).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QCheckBox" name="checkbox_localizationSmoothing">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="1">
<widget class="QLabel" name="label_scanMatching_9">
<property name="text">
<string>Re-extract visual features when computing loop closure transformations. Raw features are not saved in database.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_scanMatching_16">
<property name="text">
<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
<property name="suffix">
<string> rad/s</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1"> <item row="6" column="1">
<widget class="QLabel" name="label_scanMatching"> <widget class="QLabel" name="label_scanMatching">
<property name="text"> <property name="text">
@@ -11603,10 +11613,17 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="1"> <item row="7" column="0">
<widget class="QLabel" name="label_scanMatching_2"> <widget class="QCheckBox" name="odomGravity">
<property name="text"> <property name="text">
<string>If true, rtabmap will assume the robot is restarting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode.</string> <string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_433">
<property name="text">
<string>Maximum angular speed to update the map (0 means not limit).</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -11616,10 +11633,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="17" column="1"> <item row="15" column="0">
<widget class="QLabel" name="label_space2_12"> <widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_scanMatching_7">
<property name="text"> <property name="text">
<string>Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).</string> <string>Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if &quot;Optimizer/GravitySigma&quot; is not zero.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -11629,10 +11665,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="15" column="1"> <item row="12" column="1">
<widget class="QLabel" name="label_scanMatching_5"> <widget class="QLabel" name="label_scanMatching_11">
<property name="text"> <property name="text">
<string>Ratio of working memory for which local nodes are immunized from transfer.</string> <string>Ignore off diagonal values of the odometry covariance matrix.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -11642,6 +11678,46 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="14" column="1">
<widget class="QLabel" name="label_scanMatching_3">
<property name="text">
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="18" column="1">
<widget class="QLabel" name="label_space2_5">
<property name="text">
<string>Maximum odometry cache size. Used only in localization mode. This is used to get smoother localizations and to verify localization transforms (when maximum graph error is not null) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="loopClosure_invertedReg">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QLabel" name="label_152"> <widget class="QLabel" name="label_152">
<property name="text"> <property name="text">
@@ -11662,92 +11738,48 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="17" column="0"> <item row="4" column="1">
<widget class="QDoubleSpinBox" name="maxLocalizationDistance"> <widget class="QLabel" name="label_scanMatching_2">
<property name="text">
<string>If true, rtabmap will assume the robot is restarting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="20" column="1">
<widget class="QLabel" name="label_space2_19">
<property name="text">
<string>Localization prior error. Used only in localization mode. The corresponding variance (error x error) set to priors of the map's poses during localization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="20" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_localizationPriorError">
<property name="suffix"> <property name="suffix">
<string> m</string> <string> m</string>
</property> </property>
<property name="value"> <property name="decimals">
<number>4</number>
</property>
<property name="maximum">
<double>1.000000000000000</double> <double>1.000000000000000</double>
</property> </property>
</widget> <property name="singleStep">
</item> <double>0.010000000000000</double>
<item row="12" column="1">
<widget class="QLabel" name="label_scanMatching_11">
<property name="text">
<string>Ignore off diagonal values of the odometry covariance matrix.</string>
</property> </property>
<property name="wordWrap"> <property name="value">
<bool>true</bool> <double>0.010000000000000</double>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_scanMatching_10">
<property name="text">
<string>Do local bundle adjustment with neighborhood of the loop closure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="rgbd_loopCovLimited">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_scanMatching_9">
<property name="text">
<string>Re-extract visual features when computing loop closure transformations. Raw features are not saved in database.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_433">
<property name="text">
<string>Maximum angular speed to update the map (0 means not limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="19" column="1">
<widget class="QLabel" name="label_space2_18">
<property name="text">
<string>Localization smoothing. Used only in localization mode. Adjust localization constraints based on optimized odometry cache poses.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QCheckBox" name="checkbox_localizationSmoothing">
<property name="text">
<string/>
</property> </property>
</widget> </widget>
</item> </item>
@@ -17934,7 +17966,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<property name="title"> <property name="title">
<string>OpenVINS</string> <string>OpenVINS</string>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_161" stretch="0"> <layout class="QVBoxLayout" name="verticalLayout_161" stretch="0,0,0,0,0,0">
<item> <item>
<widget class="QLabel" name="label_632"> <widget class="QLabel" name="label_632">
<property name="text"> <property name="text">
@@ -19046,7 +19078,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<double>0.000000000001000</double> <double>0.000000000001000</double>
</property> </property>
<property name="value"> <property name="value">
<double>0.000000000000001</double> <double>0.000000000000000</double>
</property> </property>
</widget> </widget>
</item> </item>
@@ -19259,7 +19291,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="0" column="1"> <item row="0" column="1">
<widget class="QLabel" name="label_710"> <widget class="QLabel" name="label_710">
<property name="text"> <property name="text">
<string>Accel "white noise"</string> <string>Accel &quot;white noise&quot;</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -19323,7 +19355,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="2" column="1"> <item row="2" column="1">
<widget class="QLabel" name="label_712"> <widget class="QLabel" name="label_712">
<property name="text"> <property name="text">
<string>Gyro "white noise"</string> <string>Gyro &quot;white noise&quot;</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>