mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added Bundle Adjustment options to OdometryF2M (OdomF2M/BundleAdjustment) and RegistrationVis (Vis/BundleAdjustment). Added logger thread filter. RegistrationVis: Copy back corresponding input word IDs to output words when available. Memory::computeTransform() added option to use already computed corespondences if possible (proximity detection by time uses this). Updated Optimizer::optimizeBA() interface.
This commit is contained in:
matlabbe
@@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<property name="sizePolicy">
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@@ -23,8 +23,8 @@
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<iconset resource="../GuiLib.qrc">
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<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
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||||
</property>
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||||
<layout class="QVBoxLayout" name="verticalLayout_26">
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<item>
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||||
<layout class="QGridLayout" name="gridLayout_49">
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<item row="0" column="0">
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<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1">
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<property name="spacing">
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<number>0</number>
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@@ -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>-427</y>
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<y>0</y>
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<width>673</width>
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<height>2520</height>
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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>5</number>
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<number>4</number>
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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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@@ -1894,6 +1894,19 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<string>Logging</string>
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||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_40" columnstretch="0,1">
|
||||
<item row="0" column="1">
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||||
<widget class="QLabel" name="label_60">
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||||
<property name="text">
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||||
<string>Logger level.</string>
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||||
</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
|
||||
</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>
|
||||
</item>
|
||||
<item row="0" column="0">
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||||
<widget class="QComboBox" name="comboBox_loggerLevel">
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<property name="currentIndex">
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||||
@@ -1924,19 +1937,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</item>
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</widget>
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</item>
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||||
<item row="0" column="1">
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||||
<widget class="QLabel" name="label_60">
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||||
<property name="text">
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||||
<string>Logger level.</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>
|
||||
<property name="textInteractionFlags">
|
||||
<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="1" column="0">
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||||
<widget class="QComboBox" name="comboBox_loggerEventLevel">
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||||
<property name="currentIndex">
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||||
@@ -2113,6 +2113,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QMultiComboBox" name="comboBox_loggerFilter">
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||||
<property name="currentIndex">
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||||
<number>-1</number>
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||||
</property>
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||||
<property name="sizeAdjustPolicy">
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||||
<enum>QComboBox::AdjustToContents</enum>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="6" column="1">
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||||
<widget class="QLabel" name="label_164">
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||||
<property name="text">
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||||
<string>Logger thread filter. If some threads are selected, only messages from these threads will be printed. If no thread is selected, then all messages are logged. </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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||||
</layout>
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</widget>
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</item>
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@@ -7867,13 +7890,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</layout>
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</widget>
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||||
<widget class="QWidget" name="page_19">
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||||
<layout class="QVBoxLayout" name="verticalLayout_94">
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||||
<layout class="QVBoxLayout" name="verticalLayout_26">
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||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_graphOptimization2">
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<property name="title">
|
||||
<string>Graph Optimization</string>
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||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_49" columnstretch="0,1">
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||||
<layout class="QGridLayout" name="gridLayout_81" columnstretch="0,1">
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<item row="0" column="0">
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||||
<widget class="QComboBox" name="graphOptimization_type">
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||||
<item>
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@@ -7893,169 +7916,24 @@ 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="2" column="0">
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||||
<widget class="QSpinBox" name="graphOptimization_iterations">
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||||
<property name="minimum">
|
||||
<number>0</number>
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||||
</property>
|
||||
<property name="maximum">
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||||
<number>10000</number>
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||||
</property>
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||||
<property name="value">
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||||
<number>100</number>
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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="graphOptimization_covarianceIgnored">
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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="0">
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<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
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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_151">
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||||
<property name="text">
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||||
<string>Optimize graph from the newest node.</string>
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||||
</property>
|
||||
<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="1">
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||||
<widget class="Line" name="line">
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||||
<property name="orientation">
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||||
<enum>Qt::Horizontal</enum>
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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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||||
<widget class="QCheckBox" name="graphOptimization_slam2d">
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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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<widget class="QLabel" name="label_164">
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||||
<property name="text">
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||||
<string>2d SLAM: use fast 3DoF (x, y, theta) optimization instead of 6DoF (x, y, z, roll, pitch, yaw) optimization.</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>
|
||||
<property name="textInteractionFlags">
|
||||
<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="1">
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||||
<widget class="QLabel" name="label_45">
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||||
<property name="text">
|
||||
<string>Graph optimization algorithm.</string>
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||||
<string>Graph optimization algorithm. See Optimizer panel.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_183">
|
||||
<property name="text">
|
||||
<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
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||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<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="10" column="1">
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||||
<widget class="QLabel" name="label_211">
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||||
<property name="text">
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||||
<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
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||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<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="2" column="1">
|
||||
<widget class="QLabel" name="label_31">
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||||
<property name="text">
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||||
<string>Iterations.</string>
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||||
</property>
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||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
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||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_64">
|
||||
<property name="text">
|
||||
<string>Stop optimizing when the error improvement is less than this value.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
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||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="graphOptimization_stopEpsilon">
|
||||
<property name="decimals">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_141">
|
||||
<property name="text">
|
||||
<string>Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances).</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">
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="graphOptimization_robust">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_258">
|
||||
<property name="text">
|
||||
<string>Robust graph optimization using Vertigo (only for g2o and GTSAM optimization strategies). This approach can filter wrong loop closure detections.</string>
|
||||
@@ -8068,7 +7946,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="graphOptimization_maxError">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -8090,10 +7968,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_259">
|
||||
<property name="text">
|
||||
<string>Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph.</string>
|
||||
<string>Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph. It should not be used at the same time than Vertigo above.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -8103,89 +7981,57 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QGroupBox" name="groupBox_g2o">
|
||||
<property name="title">
|
||||
<string>g2o</string>
|
||||
<item row="3" column="0" rowspan="2">
|
||||
<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="Line" name="line">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_151">
|
||||
<property name="text">
|
||||
<string>Optimize graph from the newest node.</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="1">
|
||||
<widget class="QLabel" name="label_211">
|
||||
<property name="text">
|
||||
<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</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="1">
|
||||
<widget class="QLabel" name="label_183">
|
||||
<property name="text">
|
||||
<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_70" columnstretch="0,1">
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="comboBox_g2o_optimizer">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Levenberg</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Gauss Newton</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QComboBox" name="comboBox_g2o_solver">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>CSparse</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>PCG</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Cholmod</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_107">
|
||||
<property name="text">
|
||||
<string>Solver.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_138">
|
||||
<property name="text">
|
||||
<string>Optimization algorithm.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_variance">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_148">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Pixel variance for SBA.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
@@ -8198,8 +8044,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>1338</height>
|
||||
<width>17</width>
|
||||
<height>2098</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -9474,7 +9320,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<item>
|
||||
<widget class="QLabel" name="label_226">
|
||||
<property name="text">
|
||||
<string>The approach maintains a local map of features to match to. It adds incrementally new points to local map up to maximum map size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters. Note that only visual registration parameters are used in this approach. If you want to use a different registration pipeline than Visual (e.g. with ICP), use "Frame to Frame" approach instead.</string>
|
||||
<string>The approach maintains a local map of features to match to. It adds incrementally new points to local map up to maximum map size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -9486,6 +9332,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,0,1">
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_odom_f2m_maxNewFeatures">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_215">
|
||||
<property name="text">
|
||||
<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>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_195">
|
||||
<property name="text">
|
||||
@@ -9564,35 +9439,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_odom_f2m_maxNewFeatures">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_215">
|
||||
<property name="text">
|
||||
<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>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
|
||||
<property name="suffix">
|
||||
@@ -9613,6 +9459,61 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_357">
|
||||
<property name="text">
|
||||
<string>[Visual] Local bundle adjustment. See Optimizer panel. This will not work with Optical Flow correspondences strategy is selected in Visual Registration panel.</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="2">
|
||||
<widget class="QLabel" name="label_358">
|
||||
<property name="text">
|
||||
<string>[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).</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="QComboBox" name="odom_f2m_bundleStrategy">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Disabled</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>g2o</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>cvsba</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -10271,45 +10172,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<layout class="QVBoxLayout" name="verticalLayout_41" stretch="0,0,0,1">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_23" columnstretch="0,1">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_146">
|
||||
<property name="text">
|
||||
<string>Motion estimation approach using 3D and/or 2D visual words correspondences.</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="1">
|
||||
<widget class="QLabel" name="label_262">
|
||||
<property name="text">
|
||||
<string>Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>Minimum correspondences to accept the estimated transformation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QSpinBox" name="loopClosure_bowIterations">
|
||||
<property name="minimum">
|
||||
@@ -10434,6 +10296,80 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_146">
|
||||
<property name="text">
|
||||
<string>Motion estimation approach using 3D and/or 2D visual words correspondences.</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="1">
|
||||
<widget class="QLabel" name="label_262">
|
||||
<property name="text">
|
||||
<string>Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>Minimum correspondences to accept the estimated transformation.</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="QComboBox" name="loopClosure_bundle">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Disabled</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>g2o</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>cvsba</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_346">
|
||||
<property name="text">
|
||||
<string>Refine transformation with bundle adjustment. See Optimizer panel.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -11670,6 +11606,190 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_65">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_114">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_optimizer1">
|
||||
<property name="title">
|
||||
<string>Optimizer</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_113">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_80" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="graphOptimization_iterations">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>10000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>100</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="graphOptimization_stopEpsilon">
|
||||
<property name="decimals">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_141">
|
||||
<property name="text">
|
||||
<string>Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances).</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="1">
|
||||
<widget class="QLabel" name="label_64">
|
||||
<property name="text">
|
||||
<string>Stop optimizing when the error improvement is less than this value.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="graphOptimization_covarianceIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_31">
|
||||
<property name="text">
|
||||
<string>Iterations.</string>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBoxx_g2o">
|
||||
<property name="title">
|
||||
<string>g2o</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_70" columnstretch="0,1">
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="comboBox_g2o_optimizer">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Levenberg</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Gauss Newton</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QComboBox" name="comboBox_g2o_solver">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>CSparse</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>PCG</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Cholmod</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_107">
|
||||
<property name="text">
|
||||
<string>Solver.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_138">
|
||||
<property name="text">
|
||||
<string>Optimization algorithm.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_148">
|
||||
<property name="text">
|
||||
<string>Pixel variance used for bundle adjustment.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_g2o_pixelVariance">
|
||||
<property name="decimals">
|
||||
<number>5</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_58">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>2185</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_29">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_57">
|
||||
<item>
|
||||
@@ -13487,7 +13607,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<item row="1" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QRadioButton" name="radioButton_basic">
|
||||
@@ -13527,6 +13647,11 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<header>../include/rtabmap/utilite/UPlot.h</header>
|
||||
<container>1</container>
|
||||
</customwidget>
|
||||
<customwidget>
|
||||
<class>QMultiComboBox</class>
|
||||
<extends>QComboBox</extends>
|
||||
<header>3rdParty/QMultiComboBox.h</header>
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<resources>
|
||||
<include location="../GuiLib.qrc"/>
|
||||
|
||||
Reference in New Issue
Block a user