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Preferences: updated RGBD/ProximityPathMaxNeighbors description and default value (now 0=disabled)

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matlabbe
2017-04-26 14:06:42 -04:00
parent 461d167547
commit 6a2fe47b22
2 changed files with 5 additions and 5 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -330,7 +330,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore."); RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit."); RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit.");
RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection."); RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection.");
RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 10, "Maximum neighbor nodes compared on each path."); RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 0, "Maximum neighbor nodes compared on each path. Set to 0 to disable merging the laser scans.");
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph."); RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for visual proximity detection."); RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for visual proximity detection.");

8
guilib/src/ui/preferencesDialog.ui
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@@ -64,8 +64,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>678</width> <width>673</width>
<height>2701</height> <height>2718</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>1</number> <number>13</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8220,7 +8220,7 @@ 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_space3_8"> <widget class="QLabel" name="label_space3_8">
<property name="text"> <property name="text">
<string>Maximum neighbor nodes compared on each path.</string> <string>Maximum neighbor nodes compared on each path. Set to 0 to disable merging close scans.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>