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updated OptimizeFromGraphEnd description

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1549 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-13 17:49:11 +00:00
parent 1d7d2a1847
commit 6e3303654e
2 changed files with 5 additions and 4 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -226,7 +226,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.0, "Min angular displacement to update the map. Rehearsal is done prior to this, so weights are still updated."); RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.0, "Min angular displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled)."); RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
RTABMAP_PARAM(RGBD, ToroIterations, int, 100, "TORO graph optimization iterations"); RTABMAP_PARAM(RGBD, ToroIterations, int, 100, "TORO graph optimization iterations");
RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, true, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node)."); RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, true, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transfered, the first referential of the local may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
// Local loop closure detection // Local loop closure detection
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, true, "Detection over all locations in STM."); RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, true, "Detection over all locations in STM.");

7
guilib/src/ui/preferencesDialog.ui
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@@ -63,9 +63,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-210</y> <y>-530</y>
<width>709</width> <width>709</width>
<height>1089</height> <height>1140</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_16"> <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -4569,7 +4569,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="1" column="1"> <item row="1" column="1">
<widget class="QLabel" name="label_151"> <widget class="QLabel" name="label_151">
<property name="text"> <property name="text">
<string>Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node).</string> <string>Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node).
Warning when set to false: when some nodes are transfered, the first referential of the local may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>