mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added RGBD/MaxLocalizationDistance parameter
This commit is contained in:
matlabbe
@@ -947,6 +947,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDProximityByTime().c_str());
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_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDProximityBySpace().c_str());
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_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str());
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_ui->maxLocalizationDistance->setObjectName(Parameters::kRGBDMaxLocalizationDistance().c_str());
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_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDProximityMaxGraphDepth().c_str());
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_ui->localDetection_maxNeighbors->setObjectName(Parameters::kRGBDProximityPathMaxNeighbors().c_str());
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_ui->localDetection_maxPaths->setObjectName(Parameters::kRGBDProximityMaxPaths().c_str());
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@@ -63,9 +63,9 @@
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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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<width>680</width>
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<height>3082</height>
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<y>-354</y>
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<width>681</width>
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<height>3071</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -95,7 +95,7 @@
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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>5</number>
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<number>12</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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@@ -9629,6 +9629,13 @@ 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="4" column="0">
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<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
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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="8" column="1">
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<widget class="QLabel" name="label_scanMatching_9">
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<property name="text">
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@@ -9655,8 +9662,8 @@ 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="4" column="0">
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<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
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<item row="6" column="0">
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<widget class="QCheckBox" name="odomScanHistory">
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<property name="text">
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<string/>
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</property>
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@@ -9672,13 +9679,6 @@ 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="odomScanHistory">
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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="13" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
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<property name="suffix">
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@@ -9731,6 +9731,13 @@ 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="9" 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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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<widget class="QLabel" name="label_scanMatching_10">
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<property name="text">
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@@ -9757,13 +9764,6 @@ 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="9" 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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</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="QDoubleSpinBox" name="rgdb_linearUpdate">
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<property name="suffix">
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@@ -9790,6 +9790,13 @@ 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="11" column="0">
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<widget class="QCheckBox" name="rgbd_loopCovLimited">
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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="1" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
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<property name="suffix">
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@@ -9819,13 +9826,6 @@ 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="11" column="0">
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<widget class="QCheckBox" name="rgbd_loopCovLimited">
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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="14" column="1">
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<widget class="QLabel" name="label_space2">
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<property name="text">
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@@ -9852,6 +9852,13 @@ 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="16" column="0">
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<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
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<property name="maximum">
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<number>9999</number>
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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="rgdb_angularSpeedUpdate">
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<property name="suffix">
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@@ -9881,14 +9888,14 @@ 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="15" column="0">
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<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
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<property name="maximum">
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<number>9999</number>
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<item row="7" column="0">
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<widget class="QCheckBox" name="odomGravity">
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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="15" column="1">
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<item row="16" column="1">
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<widget class="QLabel" name="label_space2_5">
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<property name="text">
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<string>Maximum odometry cache size. Used only in localization mode and when maximum graph error parameter is not null. This is used to verify localization transforms to make sure we don't teleport to a location very similar to one we previously localized on. When the cache is full, the whole cache is cleared and the next localization is automatically accepted without verification. Set 0 to disable caching.</string>
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@@ -9914,10 +9921,26 @@ 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="QCheckBox" name="odomGravity">
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<item row="15" column="1">
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<widget class="QLabel" name="label_space2_12">
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<property name="text">
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<string/>
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<string>Reject localizations if the distance from the map is over this distance (0=disabled). Only used in localization mode.</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="15" column="0">
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<widget class="QDoubleSpinBox" name="maxLocalizationDistance">
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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="value">
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<double>1.000000000000000</double>
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</property>
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</widget>
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</item>
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