mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Supplement and Adjust OpenVINS Parameters (#1145)
* set the PrintLevel of OpenVINS to be equivalent to that of ULogger * use global FAST settings * add online calibration params * add dynamic initialization params * add necessary feature initializer options * fix segfault of OdomImageDecimation * add mask settings * use depth as mask in OpenVINS * set twist covariance * restore default values of VisMinDepth and VisMaxDepth
This commit is contained in:
Borong Yuan
@@ -1437,14 +1437,20 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->checkBox_OdomOpenVINSUseStereo->setObjectName(Parameters::kOdomOpenVINSUseStereo().c_str());
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_ui->checkBox_OdomOpenVINSUseKLT->setObjectName(Parameters::kOdomOpenVINSUseKLT().c_str());
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_ui->spinBox_OdomOpenVINSNumPts->setObjectName(Parameters::kOdomOpenVINSNumPts().c_str());
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_ui->spinBox_OdomOpenVINSFastThreshold->setObjectName(Parameters::kOdomOpenVINSFastThreshold().c_str());
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_ui->spinBox_OdomOpenVINSGridX->setObjectName(Parameters::kOdomOpenVINSGridX().c_str());
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_ui->spinBox_OdomOpenVINSGridY->setObjectName(Parameters::kOdomOpenVINSGridY().c_str());
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_ui->spinBox_OdomOpenVINSMinPxDist->setObjectName(Parameters::kOdomOpenVINSMinPxDist().c_str());
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_ui->doubleSpinBox_OdomOpenVINSKNNRatio->setObjectName(Parameters::kOdomOpenVINSKNNRatio().c_str());
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_ui->checkBox_OdomOpenVINSFiTriangulate1d->setObjectName(Parameters::kOdomOpenVINSFiTriangulate1d().c_str());
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_ui->checkBox_OdomOpenVINSFiRefineFeatures->setObjectName(Parameters::kOdomOpenVINSFiRefineFeatures().c_str());
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_ui->spinBox_OdomOpenVINSFiMaxRuns->setObjectName(Parameters::kOdomOpenVINSFiMaxRuns().c_str());
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_ui->doubleSpinBox_OdomOpenVINSFiMaxBaseline->setObjectName(Parameters::kOdomOpenVINSFiMaxBaseline().c_str());
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_ui->doubleSpinBox_OdomOpenVINSFiMaxCondNumber->setObjectName(Parameters::kOdomOpenVINSFiMaxCondNumber().c_str());
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_ui->checkBox_OdomOpenVINSUseFEJ->setObjectName(Parameters::kOdomOpenVINSUseFEJ().c_str());
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_ui->comboBox_OdomOpenVINSIntegration->setObjectName(Parameters::kOdomOpenVINSIntegration().c_str());
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_ui->checkBox_OdomOpenVINSCalibCamExtrinsics->setObjectName(Parameters::kOdomOpenVINSCalibCamExtrinsics().c_str());
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_ui->checkBox_OdomOpenVINSCalibCamIntrinsics->setObjectName(Parameters::kOdomOpenVINSCalibCamIntrinsics().c_str());
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_ui->checkBox_OdomOpenVINSCalibCamTimeoffset->setObjectName(Parameters::kOdomOpenVINSCalibCamTimeoffset().c_str());
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_ui->checkBox_OdomOpenVINSCalibIMUIntrinsics->setObjectName(Parameters::kOdomOpenVINSCalibIMUIntrinsics().c_str());
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_ui->checkBox_OdomOpenVINSCalibIMUGSensitivity->setObjectName(Parameters::kOdomOpenVINSCalibIMUGSensitivity().c_str());
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_ui->spinBox_OdomOpenVINSMaxClones->setObjectName(Parameters::kOdomOpenVINSMaxClones().c_str());
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_ui->spinBox_OdomOpenVINSMaxSLAM->setObjectName(Parameters::kOdomOpenVINSMaxSLAM().c_str());
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_ui->spinBox_OdomOpenVINSMaxSLAMInUpdate->setObjectName(Parameters::kOdomOpenVINSMaxSLAMInUpdate().c_str());
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@@ -1453,11 +1459,27 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->comboBox_OdomOpenVINSFeatRepSLAM->setObjectName(Parameters::kOdomOpenVINSFeatRepSLAM().c_str());
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_ui->doubleSpinBox_OdomOpenVINSDtSLAMDelay->setObjectName(Parameters::kOdomOpenVINSDtSLAMDelay().c_str());
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_ui->doubleSpinBox_OdomOpenVINSGravityMag->setObjectName(Parameters::kOdomOpenVINSGravityMag().c_str());
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_ui->lineEdit_OdomOpenVINSLeftMaskPath->setObjectName(Parameters::kOdomOpenVINSLeftMaskPath().c_str());
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connect(_ui->toolButton_OdomOpenVINSLeftMaskPath, SIGNAL(clicked()), this, SLOT(changeOdometryOpenVINSLeftMask()));
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_ui->lineEdit_OdomOpenVINSRightMaskPath->setObjectName(Parameters::kOdomOpenVINSRightMaskPath().c_str());
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connect(_ui->toolButton_OdomOpenVINSRightMaskPath, SIGNAL(clicked()), this, SLOT(changeOdometryOpenVINSRightMask()));
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_ui->doubleSpinBox_OdomOpenVINSInitWindowTime->setObjectName(Parameters::kOdomOpenVINSInitWindowTime().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitIMUThresh->setObjectName(Parameters::kOdomOpenVINSInitIMUThresh().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitMaxDisparity->setObjectName(Parameters::kOdomOpenVINSInitMaxDisparity().c_str());
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_ui->spinBox_OdomOpenVINSInitMaxFeatures->setObjectName(Parameters::kOdomOpenVINSInitMaxFeatures().c_str());
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_ui->checkBox_OdomOpenVINSInitDynUse->setObjectName(Parameters::kOdomOpenVINSInitDynUse().c_str());
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_ui->checkBox_OdomOpenVINSInitDynMLEOptCalib->setObjectName(Parameters::kOdomOpenVINSInitDynMLEOptCalib().c_str());
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_ui->spinBox_OdomOpenVINSInitDynMLEMaxIter->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxIter().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitDynMLEMaxTime->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxTime().c_str());
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_ui->spinBox_OdomOpenVINSInitDynMLEMaxThreads->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxThreads().c_str());
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_ui->spinBox_OdomOpenVINSInitDynNumPose->setObjectName(Parameters::kOdomOpenVINSInitDynNumPose().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitDynMinDeg->setObjectName(Parameters::kOdomOpenVINSInitDynMinDeg().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitDynInflationOri->setObjectName(Parameters::kOdomOpenVINSInitDynInflationOri().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitDynInflationVel->setObjectName(Parameters::kOdomOpenVINSInitDynInflationVel().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitDynInflationBg->setObjectName(Parameters::kOdomOpenVINSInitDynInflationBg().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitDynInflationBa->setObjectName(Parameters::kOdomOpenVINSInitDynInflationBa().c_str());
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_ui->doubleSpinBox_OdomOpenVINSInitDynMinRecCond->setObjectName(Parameters::kOdomOpenVINSInitDynMinRecCond().c_str());
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_ui->checkBox_OdomOpenVINSTryZUPT->setObjectName(Parameters::kOdomOpenVINSTryZUPT().c_str());
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_ui->doubleSpinBox_OdomOpenVINSZUPTChi2Multiplier->setObjectName(Parameters::kOdomOpenVINSZUPTChi2Multiplier().c_str());
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@@ -5194,6 +5216,40 @@ void PreferencesDialog::changeOdometryVINSConfigPath()
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}
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}
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void PreferencesDialog::changeOdometryOpenVINSLeftMask()
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{
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QString path;
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if(_ui->lineEdit_OdomOpenVINSLeftMaskPath->text().isEmpty())
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{
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path = QFileDialog::getOpenFileName(this, tr("Select Left Mask"), this->getWorkingDirectory(), tr("Image mask (*.jpg *.png)"));
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}
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else
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{
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path = QFileDialog::getOpenFileName(this, tr("Select Left Mask"), _ui->lineEdit_OdomOpenVINSLeftMaskPath->text(), tr("Image mask (*.jpg *.png)"));
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}
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if(!path.isEmpty())
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{
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_ui->lineEdit_OdomOpenVINSLeftMaskPath->setText(path);
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}
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}
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void PreferencesDialog::changeOdometryOpenVINSRightMask()
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{
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QString path;
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if(_ui->lineEdit_OdomOpenVINSRightMaskPath->text().isEmpty())
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{
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path = QFileDialog::getOpenFileName(this, tr("Select Right Mask"), this->getWorkingDirectory(), tr("Image mask (*.jpg *.png)"));
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}
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else
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{
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path = QFileDialog::getOpenFileName(this, tr("Select Right Mask"), _ui->lineEdit_OdomOpenVINSRightMaskPath->text(), tr("Image mask (*.jpg *.png)"));
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}
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if(!path.isEmpty())
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{
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_ui->lineEdit_OdomOpenVINSRightMaskPath->setText(path);
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}
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}
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void PreferencesDialog::changeIcpPMConfigPath()
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{
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QString path;
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@@ -18024,78 +18024,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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="QSpinBox" name="spinBox_OdomOpenVINSFastThreshold">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>30</number>
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</property>
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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_685">
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<property name="text">
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<string>Fast extraction threshold</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="4" column="0">
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<widget class="QSpinBox" name="spinBox_OdomOpenVINSGridX">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_686">
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<property name="text">
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<string>Number of grids we should split column-wise to do feature extraction in</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="5" column="0">
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<widget class="QSpinBox" name="spinBox_OdomOpenVINSGridY">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="value">
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<number>5</number>
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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_687">
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<property name="text">
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<string>Number of grids we should split row-wise to do feature extraction in</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="6" column="0">
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<widget class="QSpinBox" name="spinBox_OdomOpenVINSMinPxDist">
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<property name="minimum">
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<number>1</number>
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@@ -18105,7 +18033,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_688">
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<property name="text">
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<string>Will check after doing KLT track and remove any features closer than this</string>
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@@ -18118,26 +18046,112 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSKNNRatio">
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<item row="4" column="0">
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<widget class="QCheckBox" name="checkBox_OdomOpenVINSFiTriangulate1d">
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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="4" column="1">
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<widget class="QLabel" name="label_689">
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<property name="text">
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<string>If we should perform 1d triangulation instead of 3d</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="5" column="0">
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<widget class="QCheckBox" name="checkBox_OdomOpenVINSFiRefineFeatures">
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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_732">
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<property name="text">
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<string>If we should perform Levenberg-Marquardt refinement</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="6" column="0">
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<widget class="QSpinBox" name="spinBox_OdomOpenVINSFiMaxRuns">
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<property name="minimum">
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<double>0.010000000000000</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>0.100000000000000</double>
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<number>1</number>
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</property>
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<property name="value">
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<double>0.700000000000000</double>
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<number>5</number>
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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_733">
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<property name="text">
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<string>Max runs for Levenberg-Marquardt</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="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSFiMaxBaseline">
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<property name="maximum">
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<double>1000.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>10.000000000000000</double>
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</property>
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<property name="value">
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<double>40.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_689">
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<widget class="QLabel" name="label_734">
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<property name="text">
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<string>KNN ration between top two descriptor matcher which is required to be a good match</string>
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<string>Max baseline ratio to accept triangulated features</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSFiMaxCondNumber">
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<property name="maximum">
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<double>99999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1000.000000000000000</double>
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</property>
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<property name="value">
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<double>10000.000000000000000</double>
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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_735">
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<property name="text">
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<string>Max condition number of linear triangulation matrix accept triangulated features</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -18215,6 +18229,106 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
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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="QCheckBox" name="checkBox_OdomOpenVINSCalibCamExtrinsics">
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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="2" column="1">
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<widget class="QLabel" name="label_685">
|
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<property name="text">
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<string>If the transform between camera and IMU should be optimized (R_ItoC, p_CinI)</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">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
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</property>
|
||||
</widget>
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</item>
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<item row="3" column="0">
|
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<widget class="QCheckBox" name="checkBox_OdomOpenVINSCalibCamIntrinsics">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
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<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_686">
|
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<property name="text">
|
||||
<string>If camera intrinsics should be optimized (focal, center, distortion)</string>
|
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</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="QCheckBox" name="checkBox_OdomOpenVINSCalibCamTimeoffset">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_687">
|
||||
<property name="text">
|
||||
<string>If timeoffset between camera and IMU should be optimized</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="checkBox_OdomOpenVINSCalibIMUIntrinsics">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_718">
|
||||
<property name="text">
|
||||
<string>If imu intrinsics should be calibrated (rotation and skew-scale matrix)</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="checkBox_OdomOpenVINSCalibIMUGSensitivity">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_719">
|
||||
<property name="text">
|
||||
<string>If gyroscope gravity sensitivity (Tg) should be calibrated</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="QSpinBox" name="spinBox_OdomOpenVINSMaxClones">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -18224,7 +18338,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_692">
|
||||
<property name="text">
|
||||
<string>Max clone size of sliding window</string>
|
||||
@@ -18237,7 +18351,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_OdomOpenVINSMaxSLAM">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
@@ -18250,7 +18364,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_693">
|
||||
<property name="text">
|
||||
<string>Max number of estimated SLAM features</string>
|
||||
@@ -18263,7 +18377,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<item row="9" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_OdomOpenVINSMaxSLAMInUpdate">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -18276,7 +18390,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_694">
|
||||
<property name="text">
|
||||
<string>Max number of SLAM features we allow to be included in a single EKF update.</string>
|
||||
@@ -18289,7 +18403,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<item row="10" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_OdomOpenVINSMaxMSCKFInUpdate">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
@@ -18302,7 +18416,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_695">
|
||||
<property name="text">
|
||||
<string>Max number of MSCKF features we will use at a given image timestep.</string>
|
||||
@@ -18315,7 +18429,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QComboBox" name="comboBox_OdomOpenVINSFeatRepMSCKF">
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
@@ -18355,7 +18469,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_696">
|
||||
<property name="text">
|
||||
<string>What representation our features are in (msckf features)</string>
|
||||
@@ -18368,7 +18482,7 @@ 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="12" column="0">
|
||||
<widget class="QComboBox" name="comboBox_OdomOpenVINSFeatRepSLAM">
|
||||
<property name="currentIndex">
|
||||
<number>4</number>
|
||||
@@ -18408,7 +18522,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_697">
|
||||
<property name="text">
|
||||
<string>What representation our features are in (slam features)</string>
|
||||
@@ -18421,7 +18535,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<item row="13" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSDtSLAMDelay">
|
||||
<property name="suffix">
|
||||
<string> s</string>
|
||||
@@ -18433,11 +18547,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>2.000000000000000</double>
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_698">
|
||||
<property name="text">
|
||||
<string>Delay before initializing (helps with stability from bad initialization...)</string>
|
||||
@@ -18450,7 +18564,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<item row="14" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSGravityMag">
|
||||
<property name="decimals">
|
||||
<number>5</number>
|
||||
@@ -18463,7 +18577,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_699">
|
||||
<property name="text">
|
||||
<string>Magnitude of gravity in this location</string>
|
||||
@@ -18476,6 +18590,60 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_16" stretch="0,1">
|
||||
<item>
|
||||
<widget class="QToolButton" name="toolButton_OdomOpenVINSLeftMaskPath">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="lineEdit_OdomOpenVINSLeftMaskPath"/>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLabel" name="label_736">
|
||||
<property name="text">
|
||||
<string>Mask for left image</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_17" stretch="0,1">
|
||||
<item>
|
||||
<widget class="QToolButton" name="toolButton_OdomOpenVINSRightMaskPath">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLineEdit" name="lineEdit_OdomOpenVINSRightMaskPath"/>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="16" column="1">
|
||||
<widget class="QLabel" name="label_737">
|
||||
<property name="text">
|
||||
<string>Mask for right image</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -18595,6 +18763,306 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_OdomOpenVINSInitDynUse">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_720">
|
||||
<property name="text">
|
||||
<string>If we should perform dynamic initialization</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="checkBox_OdomOpenVINSInitDynMLEOptCalib">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_721">
|
||||
<property name="text">
|
||||
<string>If we should optimize and recover the calibration in our MLE</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="QSpinBox" name="spinBox_OdomOpenVINSInitDynMLEMaxIter">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>50</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_722">
|
||||
<property name="text">
|
||||
<string>Max number of MLE iterations for dynamic initialization</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="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynMLEMaxTime">
|
||||
<property name="suffix">
|
||||
<string> s</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_723">
|
||||
<property name="text">
|
||||
<string>Max time for MLE optimization</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_OdomOpenVINSInitDynMLEMaxThreads">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_724">
|
||||
<property name="text">
|
||||
<string>Max number of MLE threads for dynamic initialization</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="spinBox_OdomOpenVINSInitDynNumPose">
|
||||
<property name="minimum">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>6</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_725">
|
||||
<property name="text">
|
||||
<string>Number of poses to use during initialization (max should be cam freq * window)</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynMinDeg">
|
||||
<property name="suffix">
|
||||
<string> deg</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>45.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_726">
|
||||
<property name="text">
|
||||
<string>Minimum degrees we need to rotate before we try to init (sum of norm)</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="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynInflationOri">
|
||||
<property name="minimum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>999.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_727">
|
||||
<property name="text">
|
||||
<string>Magnitude we will inflate initial covariance of orientation</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynInflationVel">
|
||||
<property name="minimum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>999.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_728">
|
||||
<property name="text">
|
||||
<string>Magnitude we will inflate initial covariance of velocity</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynInflationBg">
|
||||
<property name="minimum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>999.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_729">
|
||||
<property name="text">
|
||||
<string>Magnitude we will inflate initial covariance of gyroscope bias</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynInflationBa">
|
||||
<property name="minimum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>999.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_730">
|
||||
<property name="text">
|
||||
<string>Magnitude we will inflate initial covariance of accelerometer bias</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="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomOpenVINSInitDynMinRecCond">
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000000000001000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000001</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLabel" name="label_731">
|
||||
<property name="text">
|
||||
<string>Minimum reciprocal condition number acceptable for our covariance recovery</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -21039,7 +21507,7 @@ Lower the ratio -> higher the precision.</string>
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>5.000000000000000</double>
|
||||
<double>60.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -21062,7 +21530,7 @@ Lower the ratio -> higher the precision.</string>
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>5.000000000000000</double>
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user