mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
Added OdomLOAM/Resolution parameter
This commit is contained in:
matlabbe
@@ -196,6 +196,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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#ifndef RTABMAP_OPENVINS
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_ui->odom_strategy->setItemData(10, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_FLOAM
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_ui->odom_strategy->setItemData(11, 0, Qt::UserRole - 1);
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#endif
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#if CV_MAJOR_VERSION < 3
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_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
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@@ -1360,6 +1363,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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// Odometry LOAM
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_ui->odom_loam_sensor->setObjectName(Parameters::kOdomLOAMSensor().c_str());
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_ui->odom_loam_scan_period->setObjectName(Parameters::kOdomLOAMScanPeriod().c_str());
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_ui->odom_loam_resolution->setObjectName(Parameters::kOdomLOAMResolution().c_str());
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_ui->odom_loam_linvar->setObjectName(Parameters::kOdomLOAMLinVar().c_str());
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_ui->odom_loam_angvar->setObjectName(Parameters::kOdomLOAMAngVar().c_str());
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_ui->odom_loam_localMapping->setObjectName(Parameters::kOdomLOAMLocalMapping().c_str());
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@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-727</y>
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<y>-573</y>
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<width>686</width>
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<height>3905</height>
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</rect>
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@@ -16278,7 +16278,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<widget class="QLabel" name="label_472">
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<property name="text">
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<string><html><head/><body><p>LOAM: <a href="https://github.com/laboshinl/loam_velodyne"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/laboshinl/loam_velodyne</span></a></p><p>Velodyne input required. Currently tested only with KITTI data set.</p><p>FLOAM: <a href="https://github.com/wh200720041/floam"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/wh200720041/floam</span></a></p><p>Other remapped parameters for FLOAM:<ul><li>Icp/VoxelSize -&gt; Resolution of the map</li><li>Icp/RangeMax (Max distance: set to 200 if 0)</li><li>Icp/RangeMin (Min distance)</li></p></ul></body></html></string>
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<string><html><head/><body><p>LOAM: <a href="https://github.com/laboshinl/loam_velodyne"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/laboshinl/loam_velodyne</span></a></p><p>Velodyne input required. Currently tested only with KITTI data set.</p><p>FLOAM: <a href="https://github.com/wh200720041/floam"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/wh200720041/floam</span></a></p><p>Other remapped parameters for FLOAM:</p><ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Icp/RangeMax (Max distance: set to 200 if 0)</li><li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Icp/RangeMin (Min distance)</li></ul></body></html></string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -16293,7 +16293,78 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_101" columnstretch="0,1">
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<item row="2" column="1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_476">
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<property name="text">
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<string>Angular output variance.</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="3" column="0">
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<widget class="QDoubleSpinBox" name="odom_loam_linvar">
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="minimum">
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<double>0.000100000000000</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>0.000100000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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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="odom_loam_angvar">
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="minimum">
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<double>0.000100000000000</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>0.000100000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_474">
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<property name="text">
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<string>Scan period (s).</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="QCheckBox" name="odom_loam_localMapping">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_475">
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<property name="text">
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<string>Linear output variance.</string>
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@@ -16319,19 +16390,6 @@ 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="1">
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<widget class="QLabel" name="label_474">
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<property name="text">
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<string>Scan period (s).</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="1" column="0">
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<widget class="QDoubleSpinBox" name="odom_loam_scan_period">
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<property name="minimum">
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@@ -16348,6 +16406,19 @@ 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_477">
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<property name="text">
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<string>Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.</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="0" column="0">
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<widget class="QComboBox" name="odom_loam_sensor">
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<property name="sizeAdjustPolicy">
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@@ -16370,10 +16441,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_476">
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<item row="2" column="1">
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<widget class="QLabel" name="label_566">
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<property name="text">
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<string>Angular output variance.</string>
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<string>Map resolution.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -16384,60 +16455,21 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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="odom_loam_linvar">
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<widget class="QDoubleSpinBox" name="odom_loam_resolution">
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<property name="decimals">
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<number>4</number>
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.000100000000000</double>
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<double>0.010000000000000</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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<double>9.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.000100000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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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="QDoubleSpinBox" name="odom_loam_angvar">
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="minimum">
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<double>0.000100000000000</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>0.000100000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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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="QCheckBox" name="odom_loam_localMapping">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_477">
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<property name="text">
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<string>Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.</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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<double>0.200000000000000</double>
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</property>
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</widget>
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</item>
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