mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Fixed graph deformation check without landmark's orientation optimized. Added parameter Marker/VarianceOrientationIgnored to be able to tune correctly GTSAM's bearing/range factor variance.
This commit is contained in:
matlabbe
@@ -1669,6 +1669,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->ArucoMaxDepthError->setObjectName(Parameters::kMarkerMaxDepthError().c_str());
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_ui->ArucoVarianceLinear->setObjectName(Parameters::kMarkerVarianceLinear().c_str());
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_ui->ArucoVarianceAngular->setObjectName(Parameters::kMarkerVarianceAngular().c_str());
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_ui->ArucoVarianceOrientationIgnored->setObjectName(Parameters::kMarkerVarianceOrientationIgnored().c_str());
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_ui->ArucoMarkerRangeMin->setObjectName(Parameters::kMarkerMinRange().c_str());
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_ui->ArucoMarkerRangeMax->setObjectName(Parameters::kMarkerMaxRange().c_str());
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_ui->ArucoMarkerPriors->setObjectName(Parameters::kMarkerPriors().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>-989</y>
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<y>0</y>
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<width>713</width>
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<height>4705</height>
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</rect>
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@@ -95,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>19</number>
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<number>18</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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@@ -14891,16 +14891,25 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<layout class="QVBoxLayout" name="verticalLayout_136">
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<item>
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<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
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<item row="5" column="1">
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<widget class="QLabel" name="label_space2_13">
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<property name="text">
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<string>Minimum detection range (0=disabled).</string>
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="ArucoMarkerRangeMax">
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<property name="suffix">
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<string> m</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 name="decimals">
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||||
<number>2</number>
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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 name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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@@ -14926,7 +14935,26 @@ 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="7" column="1">
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="ArucoMarkerLength">
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<property name="suffix">
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<string> m</string>
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</property>
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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>-1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_space2_15">
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<property name="text">
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<string>World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), markers are separated by a vertical line ("id1 x y z roll pitch yaw|id2 x y z roll pitch yaw"). Example: "1 0 0 1 0 0 0|2 1 0 1 0 0 1.57" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).</string>
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@@ -14939,11 +14967,65 @@ 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="7" column="0">
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<widget class="QLineEdit" name="ArucoMarkerPriors">
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<property name="placeholderText">
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<item row="6" column="1">
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<widget class="QLabel" name="label_space2_13">
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<property name="text">
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<string>Minimum detection range (0=disabled).</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="10" column="0">
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<widget class="QDoubleSpinBox" name="ArucoPriorsVarianceAngular">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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||||
</property>
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<property name="singleStep">
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||||
<double>0.001000000000000</double>
|
||||
</property>
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||||
<property name="value">
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||||
<double>0.001000000000000</double>
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||||
</property>
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</widget>
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</item>
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||||
<item row="9" column="1">
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<widget class="QLabel" name="label_space2_16">
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<property name="text">
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<string>Linear variance to set on marker priors.</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="10" column="1">
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<widget class="QLabel" name="label_space2_17">
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<property name="text">
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<string>Angular variance to set on marker priors.</string>
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</property>
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||||
<property name="wordWrap">
|
||||
<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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@@ -14953,51 +15035,22 @@ 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="6" column="0">
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<widget class="QDoubleSpinBox" name="ArucoMarkerRangeMax">
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
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<property name="suffix">
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<string> m</string>
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<string/>
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</property>
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<property name="decimals">
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<number>2</number>
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<number>6</number>
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</property>
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||||
<property name="minimum">
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||||
<double>0.000000000000000</double>
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||||
</property>
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||||
<property name="maximum">
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||||
<double>999.000000000000000</double>
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||||
<double>0.000001000000000</double>
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||||
</property>
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||||
<property name="singleStep">
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||||
<double>1.000000000000000</double>
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||||
<double>0.001000000000000</double>
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||||
</property>
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||||
<property name="value">
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||||
<double>0.000000000000000</double>
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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_space2_6">
|
||||
<property name="text">
|
||||
<string>Linear variance to set on marker detections.</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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||||
</property>
|
||||
</widget>
|
||||
</item>
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||||
<item row="4" column="1">
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<widget class="QLabel" name="label_space2_9">
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<property name="text">
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<string>Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization.</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>0.001000000000000</double>
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||||
</property>
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</widget>
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</item>
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@@ -15020,39 +15073,7 @@ 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="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoMarkerLength">
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||||
<property name="suffix">
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||||
<string> m</string>
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||||
</property>
|
||||
<property name="decimals">
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||||
<number>4</number>
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||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1.000000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
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||||
</property>
|
||||
<property name="value">
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||||
<double>0.100000000000000</double>
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||||
</property>
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</widget>
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||||
</item>
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||||
<item row="8" column="1">
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||||
<widget class="QLabel" name="label_space2_16">
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||||
<property name="text">
|
||||
<string>Linear variance to set on marker priors.</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<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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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="ArucoMarkerRangeMin">
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<property name="suffix">
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<string> m</string>
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@@ -15087,10 +15108,10 @@ 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="6" column="1">
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||||
<widget class="QLabel" name="label_space2_14">
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||||
<item row="3" column="1">
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<widget class="QLabel" name="label_space2_6">
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||||
<property name="text">
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||||
<string>Maximum detection range (0=unlimited).</string>
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<string>Linear variance to set on marker detections. If variance is adjusted to ignore orientation (see below) and Optimizer/Strategy=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -15100,29 +15121,10 @@ 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="3" column="0">
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<widget class="QDoubleSpinBox" name="ArucoVarianceLinear">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000001000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
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||||
</item>
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||||
<item row="0" column="1">
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||||
<widget class="QLabel" name="label_markerDetection">
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<item row="4" column="1">
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||||
<widget class="QLabel" name="label_space2_9">
|
||||
<property name="text">
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||||
<string>Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored.</string>
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||||
<string>Angular variance to set on marker detections. If variance is adjusted to ignore orientation (see below), the angular variance is ignored with Optimizer/Strategy=1 (g2o) and it corresponds to bearing variance with Optimizer/Strategy=2 (GTSAM).</string>
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</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -15132,33 +15134,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
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||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_space2_7">
|
||||
<property name="text">
|
||||
<string>Marker length. The length (m) of the markers' side. 0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_space2_17">
|
||||
<property name="text">
|
||||
<string>Angular variance to set on marker priors.</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="0">
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoPriorsVarianceLinear">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -15177,25 +15153,72 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="ArucoPriorsVarianceAngular">
|
||||
<property name="suffix">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_space2_14">
|
||||
<property name="text">
|
||||
<string>Maximum detection range (0=unlimited).</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="0">
|
||||
<widget class="QLineEdit" name="ArucoMarkerPriors">
|
||||
<property name="placeholderText">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>6</number>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_space2_7">
|
||||
<property name="text">
|
||||
<string>Marker length. The length (m) of the markers' side. 0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization).</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000001000000000</double>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_markerDetection">
|
||||
<property name="text">
|
||||
<string>Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored.</string>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_space2_20">
|
||||
<property name="toolTip">
|
||||
<string>When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for Optimizer/Strategy=1 (g2o), only Marker/VarianceLinear needs be set if we ignore orientation. For Optimizer/Strategy=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with Marker/VarianceLinear as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and Marker/VarianceAngular as the variance of the bearing factor (pitch/yaw).</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Adjust variance to ignore orientation during optimization. Mouseover for more details.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="ArucoVarianceOrientationIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -16182,7 +16205,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_764">
|
||||
<widget class="QLabel" name="label_7641">
|
||||
<property name="text">
|
||||
<string>[Visual] Floor threshold. Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.</string>
|
||||
</property>
|
||||
@@ -16234,7 +16257,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_763">
|
||||
<widget class="QLabel" name="label_7631">
|
||||
<property name="text">
|
||||
<string>[Visual] Update 3D local feature map on every frames with bundle adjustment. Recommended if Vis/DepthAsMask=false and Mem/UseOdomFeatures=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).</string>
|
||||
</property>
|
||||
|
||||
Reference in New Issue
Block a user