diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp index 5d2b10df..6a77670c 100644 --- a/guilib/src/PreferencesDialog.cpp +++ b/guilib/src/PreferencesDialog.cpp @@ -772,7 +772,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) : _ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str()); _ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str()); _ui->loopClosure_reextract->setObjectName(Parameters::kRGBDLoopClosureReextractFeatures().c_str()); - _ui->checkbox_rgbd_createOccupancyGRid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str()); + _ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str()); // Registration _ui->loopClosure_bowVarianceFromInliersCount->setObjectName(Parameters::kRegVarianceFromInliersCount().c_str()); diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui index d3eb3d5d..293c89cf 100644 --- a/guilib/src/ui/preferencesDialog.ui +++ b/guilib/src/ui/preferencesDialog.ui @@ -63,7 +63,7 @@ 0 - -182 + 0 673 2718 @@ -86,7 +86,7 @@ QFrame::Raised - 8 + 15 @@ -7750,6 +7750,55 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag Map Update + + + + Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link (odometry) with the previous node is refined using ICP registration approach (laser scans required). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + m + + + 1.000000000000000 + + + @@ -7763,20 +7812,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - + @@ -7876,46 +7912,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link (odometry) with the previous node is refined using ICP registration approach (laser scans required). - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority). - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - + - - - - m - - - 1.000000000000000 - - - - + Ratio of working memory for which local nodes are immunized from transfer. @@ -7948,26 +7948,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - Create local occupancy grid maps. See "Occupancy Grid" panel for parameters. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - @@ -8410,22 +8390,45 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag false - - - - A cloud will be created from the depth image (see option below) or 3D laser scan. This cloud will be segmented into ground and obstacle cells. For 2D laser scan, the occupancy grid is created using 2D ray casting (only Resolution and 2D scan related parameters are used). - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - + + + + Minimum ground height (0=disabled). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Resolution (cell size). + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Footprint filtering height (0=disabled). Footprint length and width should be set. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + m @@ -8444,7 +8447,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + m @@ -8457,7 +8460,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + m @@ -8473,7 +8476,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Noise filtering min neighbors. @@ -8486,7 +8489,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Noise filtering radius (0=disabled). Done after segmentation. @@ -8499,7 +8502,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + @@ -8509,7 +8512,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead. @@ -8522,20 +8525,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - Minimum ground height (0=disabled). - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - + Maximum ground height (0=disabled). Should be set if Normals Segmentation Approach is checked below. @@ -8548,7 +8538,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Maximum obstacles height (0=disabled). @@ -8561,7 +8551,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + m @@ -8583,7 +8573,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + 1 @@ -8596,17 +8586,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - Resolution (cell size). - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - + m @@ -8622,7 +8602,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Laser scan decimation. @@ -8635,7 +8615,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + 1 @@ -8648,7 +8628,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Footprint filtering length (0=disabled). @@ -8661,7 +8641,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + Footprint filtering width (0=disabled). Footprint length should be set. @@ -8674,7 +8654,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + m @@ -8693,7 +8673,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - + m @@ -8712,20 +8692,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - Footprint filtering height (0=disabled). Footprint length and width should be set. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - + m @@ -8744,6 +8711,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag + + + + + + + false + + + + + + + Create local occupancy grid maps. This should be enabled to generate a global occupancy grid map. A cloud will be created from the depth image (see option below) or the 3D laser scan. This cloud will be segmented into ground and obstacle cells. For 2D laser scan, the occupancy grid is created using 2D ray casting (only Resolution and 2D Laser Scan related parameters are used). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + +