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Added parameter Rtabmap/VirtualPlaceLikelihoodRatio to select how likelihood is normalized/adjusted (0=default old approach used in paper).

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matlabbe
2024-05-19 17:46:00 -07:00
parent c034a9631c
commit 995f65b2ec
5 changed files with 103 additions and 66 deletions
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1
guilib/src/PreferencesDialog.cpp
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@@ -1006,6 +1006,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
// Create hypotheses
_ui->general_doubleSpinBox_hardThr->setObjectName(Parameters::kRtabmapLoopThr().c_str());
_ui->general_doubleSpinBox_loopRatio->setObjectName(Parameters::kRtabmapLoopRatio().c_str());
_ui->comboBox_virtualPlaceLikelihoodRatio->setObjectName(Parameters::kRtabmapVirtualPlaceLikelihoodRatio().c_str());
_ui->comboBox_globalDescriptorExtractor->setObjectName(Parameters::kMemGlobalDescriptorStrategy().c_str());
connect(_ui->comboBox_globalDescriptorExtractor, SIGNAL(currentIndexChanged(int)), this, SLOT(updateGlobalDescriptorVisibility()));

128
guilib/src/ui/preferencesDialog.ui
View File

@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>11</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -11789,6 +11789,56 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_22" columnstretch="0,1">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_rtabmap_loopGPS">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_globalDescriptorExtractor">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Disabled</string>
</property>
</item>
<item>
<property name="text">
<string>PyDescriptor</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_142">
<property name="text">
<string>Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).</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="1">
<widget class="QLabel" name="label_502">
<property name="text">
<string>Use GPS to filter likelihood (if GPS is recorded). Only locations inside the Local Radius (see RGBD-SLAM panel) of the current GPS location are considered for loop closure detection.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_bayes_fullPredictionUpdate">
<property name="text">
@@ -11796,6 +11846,16 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_vp">
<property name="maximum">
@@ -11822,19 +11882,6 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_142">
<property name="text">
<string>Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).</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_82">
<property name="text">
@@ -11848,37 +11895,7 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_502">
<property name="text">
<string>Use GPS to filter likelihood (if GPS is recorded). Only locations inside the Local Radius (see RGBD-SLAM panel) of the current GPS location are considered for loop closure detection.</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="QCheckBox" name="checkBox_rtabmap_loopGPS">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_6031">
<property name="text">
<string>Global descriptor extractor.</string>
@@ -11891,19 +11908,32 @@ see Sqlite3 doc 'PRAGMA synchronous'.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_755">
<property name="text">
<string>Likelihood ratio for VP.</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="QComboBox" name="comboBox_globalDescriptorExtractor">
<widget class="QComboBox" name="comboBox_virtualPlaceLikelihoodRatio">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
</property>
<item>
<property name="text">
<string>Disabled</string>
<string>Mean / StdDev</string>
</property>
</item>
<item>
<property name="text">
<string>PyDescriptor</string>
<string>StdDev / (Max-Mean)</string>
</property>
</item>
</widget>