mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
CameraImages: moved scan filtering stuff to CameraThread
Preferences->Source: refactored scan filtering parameters OdometryF2M and OdometryF2F: moved odom orientation init from IMU to OdometryROS instead
This commit is contained in:
matlabbe
@@ -94,7 +94,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<y>-1939</y>
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<width>680</width>
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<height>2986</height>
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@@ -126,7 +126,7 @@
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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>14</number>
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<number>5</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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@@ -5881,71 +5881,20 @@ 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>
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<widget class="QGroupBox" name="groupBox_scanFromDepth">
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<property name="title">
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<string>Generate laser scan from depth image</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QSpinBox" name="spinBox_cameraScanFromDepth_decimation">
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<property name="maximum">
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<number>99999</number>
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</property>
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<property name="value">
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<number>1</number>
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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_299">
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<property name="text">
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<string>Decimation (should be a multiple of the image size). Note that it is done after general image decimation above.</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="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraSCanFromDepth_maxDepth">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_301">
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<property name="text">
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<string>Maximum depth.</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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<item>
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<layout class="QGridLayout" name="gridLayout_62" columnstretch="0,1">
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<item row="2" column="0">
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<widget class="QSpinBox" name="spinBox_cameraImages_scanNormalsK">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanRangeMin">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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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_source_scanNormalsK">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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</property>
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@@ -5960,10 +5909,10 @@ 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="0" column="1">
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<item row="1" column="1">
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<widget class="QLabel" name="label_300">
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<property name="text">
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<string>Downsample step size for laser scans. If your laser scans are created from depth images, use Decimation above instead (faster).</string>
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<string>Downsample step size for laser scans. If your laser scans are created from depth images, the step is used as decimation of the depth images.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -5973,8 +5922,8 @@ 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="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraImages_scanVoxelSize">
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanVoxelSize">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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</property>
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@@ -5989,8 +5938,8 @@ 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="0" column="0">
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<widget class="QSpinBox" name="spinBox_cameraImages_scanDownsampleStep">
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<item row="1" column="0">
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<widget class="QSpinBox" name="spinBox_source_scanDownsampleStep">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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</property>
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@@ -6002,7 +5951,7 @@ 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="1" column="1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_302">
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<property name="text">
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<string>Voxel size for uniform sampling. Note that it is done after downsampling.</string>
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@@ -6015,7 +5964,7 @@ 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="2" column="1">
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<item row="5" column="1">
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<widget class="QLabel" name="label_304">
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<property name="text">
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<string>K nearest neighbors for normals computation (0=disabled, 20 can be a good default value). Useful if the ICP registration approach is point to plane.</string>
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@@ -6028,7 +5977,7 @@ 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="3" column="1">
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<item row="6" column="1">
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<widget class="QLabel" name="label_425">
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<property name="text">
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<string>Search radius for normals computation (0=disabled). Useful if the ICP registration approach is point to plane.</string>
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@@ -6041,8 +5990,8 @@ 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="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraImages_scanNormalsRadius">
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanNormalsRadius">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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</property>
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@@ -6051,7 +6000,7 @@ 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="4" column="1">
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<item row="7" column="1">
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<widget class="QLabel" name="label_453">
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<property name="text">
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<string>Force ground normals to be all upward. Useful to make sure Velodyne's scans on ground have all normals upward.</string>
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@@ -6064,13 +6013,69 @@ 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="4" column="0">
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<widget class="QCheckBox" name="checkBox_cameraImages_scanForceGroundNormalsUp">
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<item row="7" column="0">
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<widget class="QCheckBox" name="checkBox_source_scanForceGroundNormalsUp">
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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="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanRangeMax">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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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_522">
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<property name="text">
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<string>Minimum range, filter points below that range. 0 means disabled.</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="3" column="1">
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<widget class="QLabel" name="label_523">
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<property name="text">
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<string>Maximum range, filter points above that range. 0 means disabled.</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="0" column="0">
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<widget class="QCheckBox" name="checkBox_source_scanFromDepth">
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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="0" column="1">
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<widget class="QLabel" name="label_source_scanFromDepth">
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<property name="text">
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<string>Generate laser scan from depth image.</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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</item>
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</layout>
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