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Updated how odometry guess is done (adapt to time between timestamps) and Kalman filtering (using velocity)

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matlabbe
2016-02-27 18:30:00 -05:00
parent a8d1b91083
commit 6d06b66496
16 changed files with 311 additions and 253 deletions
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142
guilib/src/ui/preferencesDialog.ui
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@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>686</width>
<height>1990</height>
<width>681</width>
<height>2010</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>16</number>
<number>18</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -9601,55 +9601,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<string/>
</property>
<layout class="QGridLayout" name="gridLayout_33" columnstretch="0,1">
<item row="10" column="1">
<widget class="QLabel" name="label_215">
<property name="text">
<string>[OpticalFlow = true] The maximum slope for each stereo pairs.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_206">
<property name="text">
<string>Maximum iterations.</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="QCheckBox" name="stereo_ssd">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="stereo_winHeight">
<property name="minimum">
<number>3</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_284">
<property name="text">
@@ -9705,6 +9656,58 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="stereo_minDisparity">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_206">
<property name="text">
<string>Maximum iterations.</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="QCheckBox" name="stereo_ssd">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="stereo_winHeight">
<property name="minimum">
<number>3</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="stereo_iterations">
<property name="minimum">
@@ -9837,22 +9840,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="stereo_minDisparity">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="stereo_opticalFlow">
<property name="text">
@@ -9860,25 +9847,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="stereo_maxSlope">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>