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New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)

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This commit is contained in:
matlabbe
2019-04-05 19:37:40 -04:00
parent ae12caff04
commit 9b63297a6b
7 changed files with 297 additions and 94 deletions
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1
guilib/src/PreferencesDialog.cpp
View File

@@ -929,6 +929,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bunlde->setObjectName(Parameters::kRGBDLocalBundleOnLoopClosure().c_str());
_ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str());
_ui->RGBDMarkerDetection->setObjectName(Parameters::kRGBDMarkerDetection().c_str());
_ui->spinBox_maxOdomCacheSize->setObjectName(Parameters::kRGBDMaxOdomCacheSize().c_str());
// Registration
_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());

58
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,7 +94,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-184</y>
<width>680</width>
<height>3082</height>
</rect>
@@ -126,7 +126,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>14</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -9165,6 +9165,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="memCovOffDiagIgnored">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_scanMatching_10">
<property name="text">
@@ -9191,13 +9198,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="memCovOffDiagIgnored">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
<property name="suffix">
@@ -9224,6 +9224,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="loopClosure_bunlde">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
@@ -9253,13 +9260,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="loopClosure_bunlde">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_space2">
<property name="text">
@@ -9286,6 +9286,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="rgbd_loopCovLimited">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
<property name="suffix">
@@ -9315,10 +9322,23 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="rgbd_loopCovLimited">
<item row="14" column="1">
<widget class="QLabel" name="label_space2_5">
<property name="text">
<string/>
<string>Maximum odometry cache size. Used only in localization mode and when maximum graph error parameter is not null. This is used to verify localization transforms to make sure we don't teleport to a location very similar to one we previously localized on. When the cache is full, the whole cache is cleared and the next localization is automatically accepted without verification. Set 0 to disable caching.</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="QSpinBox" name="spinBox_maxOdomCacheSize">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>