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Optimizer: fixed bad g2o optimizations on 2d slam when there are 3D landmarks (#384). DBViewer: landmarks can be now visualized.

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matlabbe
2019-04-26 14:03:25 -04:00
parent f9b7b54454
commit a5350c4891
11 changed files with 289 additions and 285 deletions
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109
guilib/src/ui/DatabaseViewer.ui
View File

@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>413</width>
<width>409</width>
<height>288</height>
</rect>
</property>
@@ -287,7 +287,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>412</width>
<width>408</width>
<height>288</height>
</rect>
</property>
@@ -870,16 +870,6 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_type">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
@@ -921,6 +911,30 @@
</property>
</widget>
</item>
<item row="2" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_14" stretch="0,1">
<item>
<widget class="QLabel" name="label_type">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_type_name">
<property name="text">
<string/>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
@@ -1075,7 +1089,7 @@
<item row="9" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Links (N, NM, G, LS, LT, U, P)</string>
<string>Links (N, NM, G, LS, LT, U, P, LM)</string>
</property>
</widget>
</item>
@@ -1294,7 +1308,7 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>2</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_3">
<property name="geometry">
@@ -1302,28 +1316,31 @@
<x>0</x>
<y>0</y>
<width>318</width>
<height>197</height>
<height>165</height>
</rect>
</property>
<attribute name="label">
<string>Graph optimization</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,1">
<item row="0" column="2">
<widget class="QLabel" name="label_8">
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
<property name="text">
<string>Depth (0=inf)</string>
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<item row="4" column="2">
<widget class="QLabel" name="label_49">
<property name="text">
<string>Ignore local loop closures (time)</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
<property name="text">
<string/>
@@ -1333,21 +1350,21 @@
</property>
</widget>
</item>
<item row="3" column="2">
<item row="2" column="2">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Ignore global loop closures</string>
</property>
</widget>
</item>
<item row="2" column="2">
<item row="1" column="2">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Ignore pose correction</string>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_ignorePoseCorrection">
<property name="text">
<string/>
@@ -1357,7 +1374,7 @@
</property>
</widget>
</item>
<item row="5" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
<property name="text">
<string/>
@@ -1367,7 +1384,7 @@
</property>
</widget>
</item>
<item row="7" column="0">
<item row="6" column="0">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -1380,7 +1397,7 @@
</property>
</spacer>
</item>
<item row="6" column="0">
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_ignoreUserLoop">
<property name="text">
<string/>
@@ -1390,38 +1407,28 @@
</property>
</widget>
</item>
<item row="6" column="2">
<item row="5" column="2">
<widget class="QLabel" name="label_50">
<property name="text">
<string>Ignore user loop closures</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="4" column="2">
<item row="3" column="2">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Ignore local loop closures (space)</string>
</property>
</widget>
</item>
<item row="1" column="2">
<item row="0" column="2">
<widget class="QLabel" name="label_scale_title">
<property name="text">
<string>Scale</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_optimizationScale">
<property name="decimals">
<number>3</number>
@@ -1440,22 +1447,6 @@
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_optimizationDepth">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_4">
@@ -1463,8 +1454,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>280</width>
<height>875</height>
<width>519</width>
<height>791</height>
</rect>
</property>
<attribute name="label">

33
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,7 +94,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-1219</y>
<width>680</width>
<height>3082</height>
</rect>
@@ -126,7 +126,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>21</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -1901,6 +1901,35 @@ Show a yellow background when the number of odometry inliers goes under this thr
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_528">
<property name="text">
<string>Landmark size. If zero, marker's length parameter is used.</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_landmarkSize">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>