mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
OdomF2M: added support to laser scan
This commit is contained in:
matlabbe
@@ -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>0</y>
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<y>-605</y>
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<width>681</width>
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<height>2010</height>
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</rect>
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@@ -86,7 +86,7 @@
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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>11</number>
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<number>14</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="0,1">
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@@ -7271,6 +7271,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,1">
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<item row="6" column="0">
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<widget class="QCheckBox" name="odom_flow_guessMotion">
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<property name="text">
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<string/>
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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="QDoubleSpinBox" name="odom_flow_keyframeThr">
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<property name="maximum">
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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>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.500000000000000</double>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_233">
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<property name="text">
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@@ -7311,7 +7331,7 @@ 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="8" column="0">
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<item row="9" column="0">
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<widget class="QSpinBox" name="odom_dataBufferSize">
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<property name="maximum">
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<number>999999</number>
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@@ -7348,7 +7368,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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</widget>
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</item>
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<item row="9" column="0">
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<item row="10" column="0">
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<widget class="QPushButton" name="pushButton_testOdometry">
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<property name="text">
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<string>Test selected odometry</string>
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@@ -7368,7 +7388,7 @@ 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="8" column="1">
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<item row="9" column="1">
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<widget class="QLabel" name="label_232">
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<property name="text">
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<string>Data buffer size (0 means inf).</string>
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@@ -7436,17 +7456,10 @@ 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="0">
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<widget class="QCheckBox" name="odom_flow_guessMotion">
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<property name="text">
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<string/>
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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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<widget class="QLabel" name="label_196">
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<property name="text">
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<string>Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
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<string>[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7456,8 +7469,21 @@ 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="QDoubleSpinBox" name="odom_flow_keyframeThr">
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<item row="8" column="1">
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<widget class="QLabel" name="label_246">
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<property name="text">
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<string>[Geometry] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame.</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="8" column="0">
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<widget class="QDoubleSpinBox" name="odom_flow_scanKeyframeThr">
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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@@ -7499,10 +7525,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,0,1">
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<item row="0" column="2">
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<widget class="QLabel" name="label_190">
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<item row="2" column="2">
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<widget class="QLabel" name="label_195">
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<property name="text">
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<string>Maximum map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
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<string>[Geometry] Maximum scan map size is defined by this factor times the maximum size of a single scan. For example, if the laser scans have 1000 values, then the maximum local map size will be 2000 if the factor is 2.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7512,33 +7538,10 @@ 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="2" column="0">
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<item row="4" column="0">
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<widget class="QLineEdit" name="odom_fixedLocalMapPath"/>
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</item>
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<item row="0" column="0">
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<widget class="QSpinBox" name="odom_localHistory">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QToolButton" name="toolButton_odomBowFixedLocalMap">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<item row="4" column="2">
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<widget class="QLabel" name="label_239">
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<property name="text">
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<string>Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP pose estimation is activated.</string>
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@@ -7551,10 +7554,46 @@ 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="0" column="2">
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<widget class="QLabel" name="label_190">
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<property name="text">
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<string>[Visual] Maximum map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum features. This will decrease odometry drifting when the camera is not moving.</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="0" column="0">
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<widget class="QSpinBox" name="odom_localHistory">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999999</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QToolButton" name="toolButton_odomBowFixedLocalMap">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_194">
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<property name="text">
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<string>Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.</string>
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<string>[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7580,6 +7619,39 @@ 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="2">
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<widget class="QLabel" name="label_215">
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<property name="text">
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<string>[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the laser scans.</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="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
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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>3</number>
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</property>
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<property name="value">
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<double>0.025000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="spinBox_odom_f2m_scanMaxSize">
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<property name="maximum">
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<number>999999999</number>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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