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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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This commit is contained in:
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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7
corelib/include/rtabmap/core/Optimizer.h
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@@ -69,13 +69,12 @@ public:
static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap()); static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap());
// Get connected poses and constraints from a set of links // Get connected poses and constraints from a set of links
static void getConnectedGraph( void getConnectedGraph(
int fromId, int fromId,
const std::map<int, Transform> & posesIn, const std::map<int, Transform> & posesIn,
const std::multimap<int, Link> & linksIn, // only one link between two poses const std::multimap<int, Link> & linksIn,
std::map<int, Transform> & posesOut, std::map<int, Transform> & posesOut,
std::multimap<int, Link> & linksOut, std::multimap<int, Link> & linksOut) const;
int depth = 0);
public: public:
virtual ~Optimizer() {} virtual ~Optimizer() {}

99
corelib/src/Optimizer.cpp
View File

@@ -159,94 +159,107 @@ void Optimizer::getConnectedGraph(
const std::map<int, Transform> & posesIn, const std::map<int, Transform> & posesIn,
const std::multimap<int, Link> & linksIn, const std::multimap<int, Link> & linksIn,
std::map<int, Transform> & posesOut, std::map<int, Transform> & posesOut,
std::multimap<int, Link> & linksOut, std::multimap<int, Link> & linksOut) const
int depth)
{ {
UASSERT(depth >= 0); UDEBUG("IN: fromId=%d poses=%d links=%d priorsIgnored=%d landmarksIgnored=%d", fromId, (int)posesIn.size(), (int)linksIn.size(), priorsIgnored()?1:0, landmarksIgnored()?1:0);
UASSERT(fromId>0); UASSERT(fromId>0);
UASSERT(uContains(posesIn, fromId)); UASSERT(uContains(posesIn, fromId));
posesOut.clear(); posesOut.clear();
linksOut.clear(); linksOut.clear();
std::set<int> curentPoses;
std::set<int> nextPoses; std::set<int> nextPoses;
nextPoses.insert(fromId); nextPoses.insert(fromId);
int d = 0;
std::multimap<int, int> biLinks; std::multimap<int, int> biLinks;
for(std::multimap<int, Link>::const_iterator iter=linksIn.begin(); iter!=linksIn.end(); ++iter) for(std::multimap<int, Link>::const_iterator iter=linksIn.begin(); iter!=linksIn.end(); ++iter)
{ {
if(iter->second.from() != iter->second.to()) if(iter->second.from() != iter->second.to())
{ {
UASSERT_MSG(graph::findLink(biLinks, iter->second.from(), iter->second.to()) == biLinks.end(), if(graph::findLink(biLinks, iter->second.from(), iter->second.to()) == biLinks.end())
uFormat("Input links should be unique between two poses (%d->%d).",
iter->second.from(), iter->second.to()).c_str());
biLinks.insert(std::make_pair(iter->second.from(), iter->second.to()));
if(iter->second.from() != iter->second.to())
{ {
biLinks.insert(std::make_pair(iter->second.from(), iter->second.to()));
biLinks.insert(std::make_pair(iter->second.to(), iter->second.from())); biLinks.insert(std::make_pair(iter->second.to(), iter->second.from()));
} }
} }
} }
while((depth == 0 || d < depth) && nextPoses.size()) while(nextPoses.size())
{ {
curentPoses = nextPoses; int fromId = *nextPoses.rbegin(); // fill up all nodes before landmarks
nextPoses.clear(); nextPoses.erase(*nextPoses.rbegin());
for(std::set<int>::iterator jter = curentPoses.begin(); jter!=curentPoses.end(); ++jter) if(posesOut.empty())
{ {
int fromId = *jter; posesOut.insert(std::make_pair(fromId, posesIn.find(fromId)->second));
if(posesOut.empty())
// add prior links
for(std::multimap<int, Link>::const_iterator pter=linksIn.find(fromId); pter!=linksIn.end() && pter->first==fromId; ++pter)
{ {
posesOut.insert(*posesIn.find(fromId)); if(pter->second.from() == pter->second.to() && (!priorsIgnored() || pter->second.type() != Link::kPosePrior))
// add prior links
for(std::multimap<int, Link>::const_iterator pter=linksIn.find(fromId); pter!=linksIn.end() && pter->first==fromId; ++pter)
{ {
if(pter->second.from() == pter->second.to()) linksOut.insert(*pter);
{
linksOut.insert(*pter);
}
} }
} }
}
for(std::multimap<int, int>::const_iterator iter=biLinks.find(fromId); iter!=biLinks.end() && iter->first==fromId; ++iter) for(std::multimap<int, int>::const_iterator iter=biLinks.find(fromId); iter!=biLinks.end() && iter->first==fromId; ++iter)
{
int toId = iter->second;
if(posesIn.find(toId) != posesIn.end() && (!landmarksIgnored() || toId>0))
{ {
int toId = iter->second; std::multimap<int, Link>::const_iterator kter = graph::findLink(linksIn, fromId, toId);
if(posesIn.find(toId) != posesIn.end()) if(nextPoses.find(toId) == nextPoses.end())
{ {
std::multimap<int, Link>::const_iterator kter = graph::findLink(linksIn, fromId, toId); if(!uContains(posesOut, toId))
int nextDepth = toId!=fromId?depth-1:depth;
if(depth == 0 || d < nextDepth || curentPoses.find(toId) != curentPoses.end())
{ {
if(!uContains(posesOut, toId)) if(isSlam2d() && kter->second.type() == Link::kLandmark && toId>0)
{ {
posesOut.insert(std::make_pair(toId, posesOut.at(fromId) * (kter->second.from()==fromId?kter->second.transform():kter->second.transform().inverse()))); Transform t;
// add prior links if(kter->second.from()==fromId)
for(std::multimap<int, Link>::const_iterator pter=linksIn.find(toId); pter!=linksIn.end() && pter->first==toId; ++pter)
{ {
if(pter->second.from() == pter->second.to()) t = kter->second.transform();
{
linksOut.insert(*pter);
}
} }
else
if(curentPoses.find(toId) == curentPoses.end())
{ {
nextPoses.insert(toId); t = kter->second.transform().inverse();
}
posesOut.insert(std::make_pair(toId, (posesOut.at(fromId) * t).to3DoF()));
}
else
{
Transform t = posesOut.at(fromId) * (kter->second.from()==fromId?kter->second.transform():kter->second.transform().inverse());
posesOut.insert(std::make_pair(toId, t));
}
// add prior links
for(std::multimap<int, Link>::const_iterator pter=linksIn.find(toId); pter!=linksIn.end() && pter->first==toId; ++pter)
{
if(pter->second.from() == pter->second.to() && (!priorsIgnored() || pter->second.type() != Link::kPosePrior))
{
linksOut.insert(*pter);
} }
} }
if(graph::findLink(linksOut, fromId, toId) == linksOut.end())
nextPoses.insert(toId);
}
// only add unique links
if(graph::findLink(linksOut, fromId, toId) == linksOut.end())
{
if(kter->second.to() < 0)
{
// For landmarks, make sure fromId is the landmark
linksOut.insert(std::make_pair(kter->second.to(), kter->second.inverse()));
}
else
{ {
// only add unique links
linksOut.insert(*kter); linksOut.insert(*kter);
} }
} }
} }
} }
} }
++d;
} }
UDEBUG("OUT: poses=%d links=%d", (int)posesOut.size(), (int)linksOut.size());
} }
Optimizer::Optimizer(int iterations, bool slam2d, bool covarianceIgnored, double epsilon, bool robust, bool priorsIgnored, bool landmarksIgnored, float gravitySigma) : Optimizer::Optimizer(int iterations, bool slam2d, bool covarianceIgnored, double epsilon, bool robust, bool priorsIgnored, bool landmarksIgnored, float gravitySigma) :

76
corelib/src/Rtabmap.cpp
View File

@@ -3970,10 +3970,10 @@ std::map<int, Transform> Rtabmap::optimizeGraph(
{ {
UTimer timer; UTimer timer;
std::map<int, Transform> optimizedPoses; std::map<int, Transform> optimizedPoses;
std::map<int, Transform> poses, posesOut; std::map<int, Transform> poses;
std::multimap<int, Link> edgeConstraints, linksOut; std::multimap<int, Link> edgeConstraints;
UDEBUG("ids=%d", (int)ids.size()); UDEBUG("ids=%d", (int)ids.size());
_memory->getMetricConstraints(ids, poses, edgeConstraints, lookInDatabase, true); _memory->getMetricConstraints(ids, poses, edgeConstraints, lookInDatabase, !_graphOptimizer->landmarksIgnored());
UINFO("get constraints (ids=%d, %d poses, %d edges) time %f s", (int)ids.size(), (int)poses.size(), (int)edgeConstraints.size(), timer.ticks()); UINFO("get constraints (ids=%d, %d poses, %d edges) time %f s", (int)ids.size(), (int)poses.size(), (int)edgeConstraints.size(), timer.ticks());
if(_graphOptimizer->iterations() > 0) if(_graphOptimizer->iterations() > 0)
@@ -3995,78 +3995,40 @@ std::map<int, Transform> Rtabmap::optimizeGraph(
} }
} }
bool hasLandmarks = poses.begin()->first < 0;
// The constraints must be all already connected! Only check in debug
if(ULogger::level() == ULogger::kDebug)
{
_graphOptimizer->getConnectedGraph(fromId, poses, edgeConstraints, posesOut, linksOut);
if(poses.size() != posesOut.size())
{
for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
if(posesOut.find(iter->first) == posesOut.end())
{
UERROR("Not found %d in posesOut", iter->first);
for(std::multimap<int, Link>::iterator jter=edgeConstraints.begin(); jter!=edgeConstraints.end(); ++jter)
{
if(jter->second.from() == iter->first || jter->second.to()==iter->first)
{
UERROR("Found link %d->%d", jter->second.from(), jter->second.to());
}
}
}
}
}
int ignoredLinks = 0;
if(edgeConstraints.size() != linksOut.size())
{
for(std::multimap<int, Link>::iterator iter=edgeConstraints.begin(); iter!=edgeConstraints.end(); ++iter)
{
if(graph::findLink(linksOut, iter->second.from(), iter->second.to()) == linksOut.end())
{
if(iter->second.type() == Link::kPosePrior)
{
++ignoredLinks;
}
else
{
UERROR("Not found link %d->%d in linksOut", iter->second.from(), iter->second.to());
}
}
}
}
UDEBUG("nodes %d->%d, links %d->%d (ignored=%d)", poses.size(), posesOut.size(), edgeConstraints.size(), linksOut.size(), ignoredLinks);
UASSERT_MSG(poses.size() == posesOut.size() && edgeConstraints.size()-ignoredLinks == linksOut.size(),
uFormat("nodes %d->%d, links %d->%d (ignored=%d)", poses.size(), posesOut.size(), edgeConstraints.size(), linksOut.size(), ignoredLinks).c_str());
}
if(constraints)
{
*constraints = edgeConstraints;
}
UASSERT(_graphOptimizer!=0); UASSERT(_graphOptimizer!=0);
if(_graphOptimizer->iterations() == 0) if(_graphOptimizer->iterations() == 0)
{ {
// Optimization disabled! Return not optimized poses. // Optimization disabled! Return not optimized poses.
optimizedPoses = poses; optimizedPoses = poses;
if(constraints)
{
*constraints = edgeConstraints;
}
} }
else else
{ {
bool hasLandmarks = edgeConstraints.begin()->first < 0;
if(poses.size() != guessPoses.size() || hasLandmarks) if(poses.size() != guessPoses.size() || hasLandmarks)
{ {
// recompute poses using only links (robust to multi-session) UDEBUG("recompute poses using only links (robust to multi-session)");
std::map<int, Transform> posesOut; std::map<int, Transform> posesOut;
std::multimap<int, Link> edgeConstraintsOut; std::multimap<int, Link> edgeConstraintsOut;
_graphOptimizer->getConnectedGraph(fromId, poses, edgeConstraints, posesOut, edgeConstraintsOut); _graphOptimizer->getConnectedGraph(fromId, poses, edgeConstraints, posesOut, edgeConstraintsOut);
UASSERT(edgeConstraintsOut.size() == edgeConstraints.size()); optimizedPoses = _graphOptimizer->optimize(fromId, posesOut, edgeConstraintsOut, covariance, 0, error, iterationsDone);
optimizedPoses = _graphOptimizer->optimize(fromId, posesOut, edgeConstraints, covariance, 0, error, iterationsDone); if(constraints)
{
*constraints = edgeConstraintsOut;
}
} }
else else
{ {
// use input guess poses UDEBUG("use input guess poses");
optimizedPoses = _graphOptimizer->optimize(fromId, poses, edgeConstraints, covariance, 0, error, iterationsDone); optimizedPoses = _graphOptimizer->optimize(fromId, poses, edgeConstraints, covariance, 0, error, iterationsDone);
if(constraints)
{
*constraints = edgeConstraints;
}
} }
if(!poses.empty() && optimizedPoses.empty()) if(!poses.empty() && optimizedPoses.empty())

74
corelib/src/optimizer/OptimizerG2O.cpp
View File

@@ -341,28 +341,23 @@ std::map<int, Transform> OptimizerG2O::optimize(
{ {
// check if it is SE2 or only PointXY // check if it is SE2 or only PointXY
std::multimap<int, Link>::const_iterator jter=edgeConstraints.find(id); std::multimap<int, Link>::const_iterator jter=edgeConstraints.find(id);
if(jter != edgeConstraints.end()) UASSERT(jter != edgeConstraints.end());
if (1 / static_cast<double>(jter->second.infMatrix().at<double>(5,5)) >= 9999.0)
{ {
if (1 / static_cast<double>(jter->second.infMatrix().at<double>(5,5)) >= 9999.0) g2o::VertexPointXY * v2 = new g2o::VertexPointXY();
{ v2->setEstimate(Eigen::Vector2d(iter->second.x(), iter->second.y()));
g2o::VertexPointXY * v2 = new g2o::VertexPointXY(); vertex = v2;
v2->setEstimate(Eigen::Vector2d(iter->second.x(), iter->second.y())); isLandmarkWithRotation.insert(std::make_pair(id, false));
vertex = v2; id = landmarkVertexOffset - id;
isLandmarkWithRotation.insert(std::make_pair(id, false));
id = landmarkVertexOffset - id;
}
else
{
g2o::VertexSE2 * v2 = new g2o::VertexSE2();
v2->setEstimate(g2o::SE2(iter->second.x(), iter->second.y(), iter->second.theta()));
vertex = v2;
isLandmarkWithRotation.insert(std::make_pair(id, true));
id = landmarkVertexOffset - id;
}
} }
else else
{ {
continue; g2o::VertexSE2 * v2 = new g2o::VertexSE2();
v2->setEstimate(g2o::SE2(iter->second.x(), iter->second.y(), iter->second.theta()));
vertex = v2;
isLandmarkWithRotation.insert(std::make_pair(id, true));
id = landmarkVertexOffset - id;
} }
} }
else else
@@ -391,34 +386,29 @@ std::map<int, Transform> OptimizerG2O::optimize(
{ {
// check if it is SE3 or only PointXYZ // check if it is SE3 or only PointXYZ
std::multimap<int, Link>::const_iterator jter=edgeConstraints.find(id); std::multimap<int, Link>::const_iterator jter=edgeConstraints.find(id);
if(jter != edgeConstraints.end()) UASSERT(jter != edgeConstraints.end());
if (1 / static_cast<double>(jter->second.infMatrix().at<double>(3,3)) >= 9999.0 ||
1 / static_cast<double>(jter->second.infMatrix().at<double>(4,4)) >= 9999.0 ||
1 / static_cast<double>(jter->second.infMatrix().at<double>(5,5)) >= 9999.0)
{ {
if (1 / static_cast<double>(jter->second.infMatrix().at<double>(3,3)) >= 9999.0 || g2o::VertexPointXYZ * v3 = new g2o::VertexPointXYZ();
1 / static_cast<double>(jter->second.infMatrix().at<double>(4,4)) >= 9999.0 || v3->setEstimate(Eigen::Vector3d(iter->second.x(), iter->second.y(), iter->second.z()));
1 / static_cast<double>(jter->second.infMatrix().at<double>(5,5)) >= 9999.0) vertex = v3;
{ isLandmarkWithRotation.insert(std::make_pair(id, false));
g2o::VertexPointXYZ * v3 = new g2o::VertexPointXYZ(); id = landmarkVertexOffset - id;
v3->setEstimate(Eigen::Vector3d(iter->second.x(), iter->second.y(), iter->second.z()));
vertex = v3;
isLandmarkWithRotation.insert(std::make_pair(id, false));
id = landmarkVertexOffset - id;
}
else
{
g2o::VertexSE3 * v3 = new g2o::VertexSE3();
Eigen::Affine3d a = iter->second.toEigen3d();
Eigen::Isometry3d pose;
pose = a.linear();
pose.translation() = a.translation();
v3->setEstimate(pose);
vertex = v3;
isLandmarkWithRotation.insert(std::make_pair(id, true));
id = landmarkVertexOffset - id;
}
} }
else else
{ {
continue; g2o::VertexSE3 * v3 = new g2o::VertexSE3();
Eigen::Affine3d a = iter->second.toEigen3d();
Eigen::Isometry3d pose;
pose = a.linear();
pose.translation() = a.translation();
v3->setEstimate(pose);
vertex = v3;
isLandmarkWithRotation.insert(std::make_pair(id, true));
id = landmarkVertexOffset - id;
} }
} }
else else

46
corelib/src/optimizer/OptimizerGTSAM.cpp
View File

@@ -168,18 +168,17 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
{ {
// check if it is SE2 or only PointXY // check if it is SE2 or only PointXY
std::multimap<int, Link>::const_iterator jter=edgeConstraints.find(iter->first); std::multimap<int, Link>::const_iterator jter=edgeConstraints.find(iter->first);
if(jter != edgeConstraints.end()) UASSERT_MSG(jter != edgeConstraints.end(), uFormat("Not found landmark %d in edges!", iter->first).c_str());
if (1 / static_cast<double>(jter->second.infMatrix().at<double>(5,5)) >= 9999.0)
{ {
if (1 / static_cast<double>(jter->second.infMatrix().at<double>(5,5)) >= 9999.0) initialEstimate.insert(iter->first, gtsam::Point2(iter->second.x(), iter->second.y()));
{ isLandmarkWithRotation.insert(std::make_pair(iter->first, false));
initialEstimate.insert(iter->first, gtsam::Point2(iter->second.x(), iter->second.y())); }
isLandmarkWithRotation.insert(std::make_pair(iter->first, false)); else
} {
else initialEstimate.insert(iter->first, gtsam::Pose2(iter->second.x(), iter->second.y(), iter->second.theta()));
{ isLandmarkWithRotation.insert(std::make_pair(iter->first, true));
initialEstimate.insert(iter->first, gtsam::Pose2(iter->second.x(), iter->second.y(), iter->second.theta()));
isLandmarkWithRotation.insert(std::make_pair(iter->first, true));
}
} }
} }
@@ -194,20 +193,19 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
{ {
// check if it is SE3 or only PointXYZ // check if it is SE3 or only PointXYZ
std::multimap<int, Link>::const_iterator jter=edgeConstraints.find(iter->first); std::multimap<int, Link>::const_iterator jter=edgeConstraints.find(iter->first);
if(jter != edgeConstraints.end()) UASSERT_MSG(jter != edgeConstraints.end(), uFormat("Not found landmark %d in edges!", iter->first).c_str());
if (1 / static_cast<double>(jter->second.infMatrix().at<double>(3,3)) >= 9999.0 ||
1 / static_cast<double>(jter->second.infMatrix().at<double>(4,4)) >= 9999.0 ||
1 / static_cast<double>(jter->second.infMatrix().at<double>(5,5)) >= 9999.0)
{ {
if (1 / static_cast<double>(jter->second.infMatrix().at<double>(3,3)) >= 9999.0 || initialEstimate.insert(iter->first, gtsam::Point3(iter->second.x(), iter->second.y(), iter->second.z()));
1 / static_cast<double>(jter->second.infMatrix().at<double>(4,4)) >= 9999.0 || isLandmarkWithRotation.insert(std::make_pair(iter->first, false));
1 / static_cast<double>(jter->second.infMatrix().at<double>(5,5)) >= 9999.0) }
{ else
initialEstimate.insert(iter->first, gtsam::Point3(iter->second.x(), iter->second.y(), iter->second.z())); {
isLandmarkWithRotation.insert(std::make_pair(iter->first, false)); initialEstimate.insert(iter->first, gtsam::Pose3(iter->second.toEigen4d()));
} isLandmarkWithRotation.insert(std::make_pair(iter->first, true));
else
{
initialEstimate.insert(iter->first, gtsam::Pose3(iter->second.toEigen4d()));
isLandmarkWithRotation.insert(std::make_pair(iter->first, true));
}
} }
} }
} }

1
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -164,6 +164,7 @@ public:
bool isGraphsShown() const; bool isGraphsShown() const;
bool isLabelsShown() const; bool isLabelsShown() const;
bool isLandmarksShown() const; bool isLandmarksShown() const;
double landmarkVisSize() const;
bool isMarkerDetection() const; bool isMarkerDetection() const;
double getMarkerLength() const; double getMarkerLength() const;
double getVoxel() const; double getVoxel() const;

119
guilib/src/DatabaseViewer.cpp
View File

@@ -370,7 +370,6 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView())); connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView())); connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView())); connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
connect(ui_->spinBox_optimizationDepth, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->doubleSpinBox_optimizationScale, SIGNAL(editingFinished()), this, SLOT(updateGraphView())); connect(ui_->doubleSpinBox_optimizationScale, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
connect(ui_->checkBox_octomap, SIGNAL(stateChanged(int)), this, SLOT(updateGrid())); connect(ui_->checkBox_octomap, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
connect(ui_->checkBox_grid_2d, SIGNAL(stateChanged(int)), this, SLOT(updateGrid())); connect(ui_->checkBox_grid_2d, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
@@ -698,7 +697,6 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->checkBox_ignoreLocalLoopSpace->setChecked(false); ui_->checkBox_ignoreLocalLoopSpace->setChecked(false);
ui_->checkBox_ignoreLocalLoopTime->setChecked(false); ui_->checkBox_ignoreLocalLoopTime->setChecked(false);
ui_->checkBox_ignoreUserLoop->setChecked(false); ui_->checkBox_ignoreUserLoop->setChecked(false);
ui_->spinBox_optimizationDepth->setValue(0);
ui_->doubleSpinBox_optimizationScale->setValue(1.0); ui_->doubleSpinBox_optimizationScale->setValue(1.0);
ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0); ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0);
ui_->doubleSpinBox_voxelSize->setValue(0.0); ui_->doubleSpinBox_voxelSize->setValue(0.0);
@@ -1600,7 +1598,7 @@ void DatabaseViewer::updateIds()
QApplication::processEvents(); QApplication::processEvents();
std::multimap<int, Link> unilinks; std::multimap<int, Link> unilinks;
dbDriver_->getAllLinks(unilinks, true); dbDriver_->getAllLinks(unilinks, true, true);
UDEBUG("%d total links loaded", (int)unilinks.size()); UDEBUG("%d total links loaded", (int)unilinks.size());
// add both direction links // add both direction links
std::multimap<int, Link> links; std::multimap<int, Link> links;
@@ -1694,7 +1692,7 @@ void DatabaseViewer::updateIds()
std::multimap<int, Link>::iterator invertedLinkIter = graph::findLink(links, jter->second.to(), jter->second.from(), false); std::multimap<int, Link>::iterator invertedLinkIter = graph::findLink(links, jter->second.to(), jter->second.from(), false);
if( jter->second.isValid() && // null transform means a rehearsed location if( jter->second.isValid() && // null transform means a rehearsed location
ids.find(jter->second.from()) != ids.end() && ids.find(jter->second.from()) != ids.end() &&
ids.find(jter->second.to()) != ids.end() && (ids.find(jter->second.to()) != ids.end() || jter->second.to()<0) && // to add landmark links
graph::findLink(links_, jter->second.from(), jter->second.to()) == links_.end() && graph::findLink(links_, jter->second.from(), jter->second.to()) == links_.end() &&
invertedLinkIter != links.end()) invertedLinkIter != links.end())
{ {
@@ -4995,14 +4993,15 @@ void DatabaseViewer::updateConstraintView(
ui_->checkBox_showOptimized->setEnabled(false); ui_->checkBox_showOptimized->setEnabled(false);
UASSERT(!t.isNull() && dbDriver_); UASSERT(!t.isNull() && dbDriver_);
ui_->label_type->setText(tr("%1 (%2)") ui_->label_type->setText(QString::number(link.type()));
.arg(link.type()) ui_->label_type_name->setText(tr("(%1)")
.arg(link.type()==Link::kNeighbor?"Neighbor": .arg(link.type()==Link::kNeighbor?"Neighbor":
link.type()==Link::kNeighborMerged?"Merged neighbor": link.type()==Link::kNeighborMerged?"Merged neighbor":
link.type()==Link::kGlobalClosure?"Loop closure": link.type()==Link::kGlobalClosure?"Loop closure":
link.type()==Link::kLocalSpaceClosure?"Space proximity link": link.type()==Link::kLocalSpaceClosure?"Space proximity link":
link.type()==Link::kLocalTimeClosure?"Time proximity link": link.type()==Link::kLocalTimeClosure?"Time proximity link":
link.type()==Link::kUserClosure?"User link": link.type()==Link::kUserClosure?"User link":
link.type()==Link::kLandmark?"Landmark link":
link.type()==Link::kVirtualClosure?"Virtual link":"Undefined")); link.type()==Link::kVirtualClosure?"Virtual link":"Undefined"));
ui_->label_variance->setText(QString("%1, %2") ui_->label_variance->setText(QString("%1, %2")
.arg(sqrt(link.transVariance())) .arg(sqrt(link.transVariance()))
@@ -5040,45 +5039,51 @@ void DatabaseViewer::updateConstraintView(
{ {
ui_->horizontalSlider_A->blockSignals(true); ui_->horizontalSlider_A->blockSignals(true);
ui_->horizontalSlider_B->blockSignals(true); ui_->horizontalSlider_B->blockSignals(true);
// set from on left and to on right { // set from on left and to on right
ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from())); if(link.from()>0)
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to())); ui_->horizontalSlider_A->setValue(idToIndex_.value(link.from()));
if(link.to() > 0)
ui_->horizontalSlider_B->setValue(idToIndex_.value(link.to()));
ui_->horizontalSlider_A->blockSignals(false); ui_->horizontalSlider_A->blockSignals(false);
ui_->horizontalSlider_B->blockSignals(false); ui_->horizontalSlider_B->blockSignals(false);
this->update(idToIndex_.value(link.from()), if(link.from()>0)
ui_->label_indexA, this->update(idToIndex_.value(link.from()),
ui_->label_parentsA, ui_->label_indexA,
ui_->label_childrenA, ui_->label_parentsA,
ui_->label_weightA, ui_->label_childrenA,
ui_->label_labelA, ui_->label_weightA,
ui_->label_stampA, ui_->label_labelA,
ui_->graphicsView_A, ui_->label_stampA,
ui_->label_idA, ui_->graphicsView_A,
ui_->label_mapA, ui_->label_idA,
ui_->label_poseA, ui_->label_mapA,
ui_->label_velA, ui_->label_poseA,
ui_->label_calibA, ui_->label_velA,
ui_->label_scanA, ui_->label_calibA,
ui_->label_gpsA, ui_->label_scanA,
ui_->label_sensorsA, ui_->label_gpsA,
false); // don't update constraints view! ui_->label_sensorsA,
this->update(idToIndex_.value(link.to()), false); // don't update constraints view!
ui_->label_indexB, if(link.to()>0)
ui_->label_parentsB, {
ui_->label_childrenB, this->update(idToIndex_.value(link.to()),
ui_->label_weightB, ui_->label_indexB,
ui_->label_labelB, ui_->label_parentsB,
ui_->label_stampB, ui_->label_childrenB,
ui_->graphicsView_B, ui_->label_weightB,
ui_->label_idB, ui_->label_labelB,
ui_->label_mapB, ui_->label_stampB,
ui_->label_poseB, ui_->graphicsView_B,
ui_->label_velB, ui_->label_idB,
ui_->label_calibB, ui_->label_mapB,
ui_->label_scanB, ui_->label_poseB,
ui_->label_gpsB, ui_->label_velB,
ui_->label_sensorsB, ui_->label_calibB,
false); // don't update constraints view! ui_->label_scanB,
ui_->label_gpsB,
ui_->label_sensorsB,
false); // don't update constraints view!
}
} }
if(constraintsViewer_->isVisible()) if(constraintsViewer_->isVisible())
@@ -5989,8 +5994,7 @@ void DatabaseViewer::updateGraphView()
int currentMapId = mapIds_.at(fromId); int currentMapId = mapIds_.at(fromId);
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end();) for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end();)
{ {
if(!uContains(mapIds_, iter->first) || if(iter->first>0 && (!uContains(mapIds_, iter->first) || mapIds_.at(iter->first) != currentMapId))
mapIds_.at(iter->first) != currentMapId)
{ {
poses.erase(iter++); poses.erase(iter++);
} }
@@ -6011,10 +6015,8 @@ void DatabaseViewer::updateGraphView()
int currentMapId = mapIds_.at(fromId); int currentMapId = mapIds_.at(fromId);
for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end();) for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end();)
{ {
if(!uContains(mapIds_, iter->second.from()) || if((iter->second.from()>0 && (!uContains(mapIds_, iter->second.from()) || mapIds_.at(iter->second.from()) != currentMapId)) ||
!uContains(mapIds_, iter->second.to()) || (iter->second.to()>0 && (!uContains(mapIds_, iter->second.to()) || mapIds_.at(iter->second.to()) != currentMapId)))
mapIds_.at(iter->second.from()) != currentMapId ||
mapIds_.at(iter->second.to()) != currentMapId)
{ {
links.erase(iter++); links.erase(iter++);
} }
@@ -6056,6 +6058,7 @@ void DatabaseViewer::updateGraphView()
int totalLocalSpace = 0; int totalLocalSpace = 0;
int totalUser = 0; int totalUser = 0;
int totalPriors = 0; int totalPriors = 0;
int totalLandmarks = 0;
for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end();) for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end();)
{ {
if(iter->second.type() == Link::kNeighbor) if(iter->second.type() == Link::kNeighbor)
@@ -6106,6 +6109,16 @@ void DatabaseViewer::updateGraphView()
loopLinks_.push_back(iter->second); loopLinks_.push_back(iter->second);
++totalUser; ++totalUser;
} }
else if(iter->second.type() == Link::kLandmark)
{
UASSERT(iter->second.from() > 0 && iter->second.to() < 0);
if(poses.find(iter->second.from()) != poses.end() && poses.find(iter->second.to()) == poses.end())
{
poses.insert(std::make_pair(iter->second.to(), poses.at(iter->second.from())*iter->second.transform()));
}
loopLinks_.push_back(iter->second);
++totalLandmarks;
}
else if(iter->second.type() == Link::kPosePrior) else if(iter->second.type() == Link::kPosePrior)
{ {
++totalPriors; ++totalPriors;
@@ -6118,14 +6131,15 @@ void DatabaseViewer::updateGraphView()
} }
updateLoopClosuresSlider(); updateLoopClosuresSlider();
ui_->label_loopClosures->setText(tr("(%1, %2, %3, %4, %5, %6, %7)") ui_->label_loopClosures->setText(tr("(%1, %2, %3, %4, %5, %6, %7, %8)")
.arg(totalNeighbor) .arg(totalNeighbor)
.arg(totalNeighborMerged) .arg(totalNeighborMerged)
.arg(totalGlobal) .arg(totalGlobal)
.arg(totalLocalSpace) .arg(totalLocalSpace)
.arg(totalLocalTime) .arg(totalLocalTime)
.arg(totalUser) .arg(totalUser)
.arg(totalPriors)); .arg(totalPriors)
.arg(totalLandmarks));
// remove intermediate nodes? // remove intermediate nodes?
if(ui_->checkBox_ignoreIntermediateNodes->isVisible() && if(ui_->checkBox_ignoreIntermediateNodes->isVisible() &&
@@ -6170,8 +6184,7 @@ void DatabaseViewer::updateGraphView()
poses, poses,
links, links,
posesOut, posesOut,
linksOut, linksOut);
ui_->spinBox_optimizationDepth->value());
if(optimizedGraphGuess.size() == posesOut.size()) if(optimizedGraphGuess.size() == posesOut.size())
{ {
bool identical=true; bool identical=true;

2
guilib/src/MainWindow.cpp
View File

@@ -2646,7 +2646,7 @@ void MainWindow::updateMapCloud(
for(std::map<int, Transform>::const_iterator iter=posesIn.begin(); iter!=posesIn.end() && iter->first<0; ++iter) for(std::map<int, Transform>::const_iterator iter=posesIn.begin(); iter!=posesIn.end() && iter->first<0; ++iter)
{ {
#if PCL_VERSION_COMPARE(>=, 1, 7, 2) #if PCL_VERSION_COMPARE(>=, 1, 7, 2)
_cloudViewer->addOrUpdateCoordinate(uFormat("landmark_%d", -iter->first), iter->second, _preferencesDialog->getMarkerLength()<=0?0.1:_preferencesDialog->getMarkerLength()/2.0, false); _cloudViewer->addOrUpdateCoordinate(uFormat("landmark_%d", -iter->first), iter->second, _preferencesDialog->landmarkVisSize()>0.0?_preferencesDialog->landmarkVisSize():_preferencesDialog->getMarkerLength()<=0?0.1:_preferencesDialog->getMarkerLength()/2.0, false);
#endif #endif
if(_preferencesDialog->isLabelsShown()) if(_preferencesDialog->isLabelsShown())
{ {

8
guilib/src/PreferencesDialog.cpp
View File

@@ -502,6 +502,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->checkBox_showLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->checkBox_showLandmarks, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->doubleSpinBox_landmarkSize, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->radioButton_noFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
connect(_ui->radioButton_nodeFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel())); connect(_ui->radioButton_nodeFiltering, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1611,6 +1612,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkBox_showGraphs->setChecked(true); _ui->checkBox_showGraphs->setChecked(true);
_ui->checkBox_showLabels->setChecked(false); _ui->checkBox_showLabels->setChecked(false);
_ui->checkBox_showLandmarks->setChecked(true); _ui->checkBox_showLandmarks->setChecked(true);
_ui->doubleSpinBox_landmarkSize->setValue(0);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0); _ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->groupBox_organized->setChecked(false); _ui->groupBox_organized->setChecked(false);
@@ -2028,6 +2030,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool()); _ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool()); _ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
_ui->checkBox_showLandmarks->setChecked(settings.value("showLandmarks", _ui->checkBox_showLandmarks->isChecked()).toBool()); _ui->checkBox_showLandmarks->setChecked(settings.value("showLandmarks", _ui->checkBox_showLandmarks->isChecked()).toBool());
_ui->doubleSpinBox_landmarkSize->setValue(settings.value("landmarkSize", _ui->doubleSpinBox_landmarkSize->value()).toDouble());
_ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool()); _ui->radioButton_noFiltering->setChecked(settings.value("noFiltering", _ui->radioButton_noFiltering->isChecked()).toBool());
_ui->radioButton_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked()).toBool()); _ui->radioButton_nodeFiltering->setChecked(settings.value("cloudFiltering", _ui->radioButton_nodeFiltering->isChecked()).toBool());
@@ -2449,6 +2452,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked()); settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked()); settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
settings.setValue("showLandmarks", _ui->checkBox_showLandmarks->isChecked()); settings.setValue("showLandmarks", _ui->checkBox_showLandmarks->isChecked());
settings.setValue("landmarkSize", _ui->doubleSpinBox_landmarkSize->value());
settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked()); settings.setValue("noFiltering", _ui->radioButton_noFiltering->isChecked());
@@ -4687,6 +4691,10 @@ bool PreferencesDialog::isLandmarksShown() const
{ {
return _ui->checkBox_showLandmarks->isChecked(); return _ui->checkBox_showLandmarks->isChecked();
} }
double PreferencesDialog::landmarkVisSize() const
{
return _ui->doubleSpinBox_landmarkSize->value();
}
bool PreferencesDialog::isMarkerDetection() const bool PreferencesDialog::isMarkerDetection() const
{ {
return _ui->RGBDMarkerDetection->isChecked(); return _ui->RGBDMarkerDetection->isChecked();

109
guilib/src/ui/DatabaseViewer.ui
View File

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

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

@@ -94,7 +94,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-1219</y>
<width>680</width> <width>680</width>
<height>3082</height> <height>3082</height>
</rect> </rect>
@@ -126,7 +126,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>21</number> <number>1</number>
</property> </property>
<widget class="QWidget" name="page_22"> <widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1"> <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> </property>
</widget> </widget>
</item> </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> </layout>
</widget> </widget>
</item> </item>