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https://github.com/introlab/rtabmap.git
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rtabmap:
-Fixed map id not incremented on Odometry reset (identity transform was missed) -Keeping maximum odometry variance between two loop closure updates Odometry: -removed parameters Odom/FeaturesRatio, Odom/LinearUpdate, Odom/AngularUpdate -added parameter Odom/FillInfoData -expended OdometryInfo class with features stuff Gui: -show inliers/outliers features in Odometry view
This commit is contained in:
Mathieu Labbe
@@ -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>-305</y>
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<y>0</y>
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<width>744</width>
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<height>1252</height>
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<height>1056</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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@@ -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>19</number>
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<number>23</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">
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@@ -6261,7 +6261,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_27" columnstretch="0,0">
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<item row="4" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_47">
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<property name="text">
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<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).</string>
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@@ -6288,55 +6288,13 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</item>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_46">
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<property name="text">
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<string>Angular update: minimum angular distance to update the odometry.</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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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="odom_angularUpdate">
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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="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>0.015000000000000</double>
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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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<item row="2" column="0">
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<widget class="QSpinBox" name="odom_countdown">
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<property name="maximum">
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<number>999999</number>
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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="QDoubleSpinBox" name="odom_linearUpdate">
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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="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>0.015000000000000</double>
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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="QComboBox" name="odom_type">
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<property name="sizeAdjustPolicy">
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@@ -6384,16 +6342,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</item>
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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="QLabel" name="label_45">
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<property name="text">
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<string>Linear update: minimum linear distance to update the odometry.</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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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_44">
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<property name="text">
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@@ -6416,14 +6364,14 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<item row="3" column="0">
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<widget class="QCheckBox" name="odom_force2D">
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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="5" column="1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_196">
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<property name="text">
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<string>Force 2D transform (3DoF: x,y and yaw).</string>
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@@ -6433,6 +6381,23 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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_221">
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<property name="text">
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<string>Fill info with data (inliers/outliers features to be shown in Odometry view).</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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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="odom_fillInfoData">
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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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</layout>
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</item>
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<item>
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@@ -6545,38 +6510,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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="QDoubleSpinBox" name="odom_ratio">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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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>0.010000000000000</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_90">
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<property name="text">
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<string>Minimum ratio of keypoints between the current image and the last image to compute odometry.</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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</widget>
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</item>
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</layout>
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</widget>
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</item>
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