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Save intermediate node input features (#1698)

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* Avoid removing nodes from STM when using CreateIntermediateNodes

* Clean up the data of the intermediate node when IntermediateNodeDataKept is false

* Save intermediate node input features

* Don't delete intermediate nodes

* comment typo

* Updated parameter description, bump patch for DBReader API chang

* When ID is not udpated to new one, don't disable words because that signature is still used in the bayes filter

* updated comment

* rtabmap-reprocess: support Rtabmap/DetectionRate when intermediate nodes are created and -skip option is not used

* Fixed smallMovement when rehearsal is not trigdered at the same time

* GUI: visualize rehearsal darkblue when intermediate nodes are used

* Fixed RtabmapThread not transfering input features on intermediate nodes

* Do not override smallMovement and fastMovement when converting to intermediate nodes to keep GUI visualization color working

---------

Co-authored-by: Borong Yuan <[email protected]>
This commit is contained in:
matlabbe
2026-05-14 09:20:09 -07:00
committed by GitHub
co-authored by Borong Yuan
parent afe8aadff1
commit 8d0692eab0
14 changed files with 704 additions and 505 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/ui/preferencesDialog.ui
+202 -182
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-700</y>
<width>684</width>
<height>5218</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>14</number>
<number>8</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -3469,7 +3469,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>0</number>
<number>3</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -7180,37 +7180,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1,0">
<item row="10" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStopId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
<item row="8" column="1">
<widget class="QLabel" name="label_786">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_644">
<property name="text">
<string>Ignore features.</string>
<string>Ignore IMU (i.e., gravity links).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7220,6 +7193,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="source_database_toolButton_selectSource">
<property name="text">
@@ -7227,123 +7207,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_784">
<item row="10" column="1">
<widget class="QLabel" name="label_58">
<property name="text">
<string>Override camera local transform(s) with local transform(s) set above. For multi-cameras, use a &quot;;&quot; between each transform.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
<string>Start position (node ID).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLineEdit" name="source_lineEdit_databaseCameraIndex"/>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLineEdit" name="source_lineEdit_databaseLocalTransformOffset"/>
</item>
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<property name="toolTip">
<string>Open database viewer</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="source_checkBox_overrideLocalTransforms">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreFeatures">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_72">
<property name="text">
<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_315">
<property name="text">
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. Leave empty to use all cameras. Can also be multiple indices split by spaces in a string like &quot;0 2&quot; to stream cameras 0 and 2 only.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="source_checkBox_ignorePriors">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_785">
<property name="text">
<string>Add an y-axis offset before optical rotation on the overriden local transform(s). For multi-cameras,explicitly enumerate offsets if they are different (e.g., &quot;0.05 0.075&quot; for two cameras setup), or set single number to apply to all camera transforms.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStartId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_90">
<property name="text">
@@ -7357,25 +7230,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreLandmarks">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (node ID).</string>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
<item row="8" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreIMU">
<property name="text">
<string/>
</property>
@@ -7394,6 +7250,139 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
</item>
<item row="15" column="0">
<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_644">
<property name="text">
<string>Ignore features.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreFeatures">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_315">
<property name="text">
<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. Leave empty to use all cameras. Can also be multiple indices split by spaces in a string like &quot;0 2&quot; to stream cameras 0 and 2 only.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreLandmarks">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<property name="toolTip">
<string>Open database viewer</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_263">
<property name="text">
<string>Ignore goals saved in the database.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_797">
<property name="text">
<string>Publish intermediate nodes as normal nodes.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_557">
<property name="text">
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStopId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_529">
<property name="text">
<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_546">
<property name="text">
@@ -7407,6 +7396,19 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QLineEdit" name="source_lineEdit_databaseLocalTransformOffset"/>
</item>
<item row="10" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStartId">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
@@ -7421,9 +7423,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_557">
<widget class="QLabel" name="label_785">
<property name="text">
<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
<string>Add an y-axis offset before optical rotation on the overriden local transform(s). For multi-cameras,explicitly enumerate offsets if they are different (e.g., &quot;0.05 0.075&quot; for two cameras setup), or set single number to apply to all camera transforms.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7433,10 +7435,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_529">
<item row="13" column="1">
<widget class="QLabel" name="label_784">
<property name="text">
<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</string>
<string>Override camera local transform(s) with local transform(s) set above. For multi-cameras, use a &quot;;&quot; between each transform.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7446,10 +7448,34 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_263">
<item row="13" column="0">
<widget class="QCheckBox" name="source_checkBox_overrideLocalTransforms">
<property name="text">
<string>Ignore goals saved in the database.</string>
<string/>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="source_checkBox_intermediateNodesAreNormalNodes">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="source_checkBox_ignorePriors">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLineEdit" name="source_lineEdit_databaseCameraIndex"/>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_72">
<property name="text">
<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7459,21 +7485,15 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_786">
<item row="3" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
<property name="text">
<string>Ignore IMU (i.e., gravity links).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
<string/>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreIMU">
<item row="2" column="0">
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
<property name="text">
<string/>
</property>
@@ -11102,7 +11122,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="2" column="1">
<widget class="QLabel" name="label_rehearsalIdUpdate">
<property name="text">
<string>On merging, update to new id.</string>
<string>On merging, update to new id. Keep this unchecked if intermediate nodes are created.</string>
</property>
<property name="wordWrap">
<bool>true</bool>