mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
When Mem/DepthAsMask is false, features without depth are triangulated using odometry. Added parameter RGBD/LocalBundleOnLoopClosure.
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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@@ -95,7 +95,7 @@
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@@ -8598,7 +8598,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</string>
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@@ -8624,7 +8624,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
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@@ -8637,7 +8637,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -8660,7 +8660,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -8692,12 +8699,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="6" column="0">
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@@ -8712,9 +8715,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -8744,6 +8744,13 @@ 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="7" column="0">
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<widget class="QCheckBox" name="loopClosure_reextract">
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<string/>
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@@ -8763,14 +8770,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<widget class="QCheckBox" name="loopClosure_reextract">
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<item row="10" column="1">
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<widget class="QLabel" name="label_scanMatching_5">
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<property name="text">
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<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
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@@ -8822,6 +8822,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -8851,8 +8858,21 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="8" column="1">
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<widget class="QLabel" name="label_scanMatching_10">
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<property name="text">
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<string>Do local bundle adjustment with neighborhood of the loop closure.</string>
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<bool>true</bool>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QCheckBox" name="loopClosure_bunlde">
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<property name="text">
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<string/>
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