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Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table

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This commit is contained in:
Mathieu Labbe
2015-05-01 07:30:09 -04:00
parent d09e8f237a
commit abb7eb15ac
29 changed files with 622 additions and 275 deletions
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68
guilib/src/DatabaseViewer.cpp
View File

@@ -671,44 +671,47 @@ void DatabaseViewer::exportDatabase()
if(!dialog.outputPath().isEmpty())
{
int framesIgnored = dialog.framesIgnored();
double frameRate = dialog.targetFramerate();
int sessionExported = dialog.sessionExported();
QString path = dialog.outputPath();
rtabmap::DataRecorder recorder;
QList<int> ids;
if(sessionExported < 0)
double previousStamp = 0;
for(int i=0; i<ids_.size(); i+=1+framesIgnored)
{
ids = ids_;
}
else
{
for(int i=0; i<ids_.size(); ++i)
Transform odomPose;
int weight = -1;
int mapId = -1;
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
if(memory_->getNodeInfo(ids_[i], odomPose, mapId, weight, label, stamp, userData, true))
{
Transform odomPose;
int weight = -1;
int mapId = -1;
std::string label;
double stamp = 0;
std::vector<unsigned char> userData;
if(memory_->getNodeInfo(ids_[i], odomPose, mapId, weight, label, stamp, userData, true))
if(frameRate == 0 ||
previousStamp == 0 ||
stamp == 0 ||
stamp - previousStamp >= 1.0/frameRate)
{
if(sessionExported == mapId)
if(sessionExported < 0 || sessionExported == mapId)
{
ids.push_back(ids_[i]);
}
else if(mapId > sessionExported)
{
break;
}
previousStamp = stamp;
}
if(sessionExported >= 0 && mapId > sessionExported)
{
break;
}
}
}
if(recorder.init(path, false))
{
rtabmap::DetailedProgressDialog progressDialog(this);
progressDialog.setMaximumSteps(ids.size() / (1+framesIgnored) + 1);
progressDialog.setMaximumSteps(ids.size());
progressDialog.show();
for(int i=0; i<ids.size(); i+=1+framesIgnored)
for(int i=0; i<ids.size(); ++i)
{
int id = ids.at(i);
@@ -1465,6 +1468,11 @@ void DatabaseViewer::update(int value,
1);
}
view3D->addOrUpdateCloud("0", cloud, data.getLocalTransform());
//add scan
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.getLaserScanRaw());
view3D->addOrUpdateCloud("1", scan);
view3D->update();
}
}
@@ -1842,13 +1850,16 @@ void DatabaseViewer::sliderLoopValueChanged(int value)
void DatabaseViewer::updateConstraintView()
{
Link link = this->findActiveLink(ui_->horizontalSlider_A->value(), ui_->horizontalSlider_B->value());
if(link.type() == Link::kNeighbor)
if(link.isValid())
{
this->updateConstraintView(neighborLinks_.at(ui_->horizontalSlider_neighbors->value()), false);
}
else
{
this->updateConstraintView(loopLinks_.at(ui_->horizontalSlider_loops->value()), false);
if(link.type() == Link::kNeighbor)
{
this->updateConstraintView(neighborLinks_.at(ui_->horizontalSlider_neighbors->value()), false);
}
else
{
this->updateConstraintView(loopLinks_.at(ui_->horizontalSlider_loops->value()), false);
}
}
}
@@ -2042,7 +2053,10 @@ void DatabaseViewer::updateConstraintView(
if(cloudTo->size())
{
cloudTo = rtabmap::util3d::removeNaNFromPointCloud<pcl::PointXYZ>(cloudTo);
cloudTo = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(cloudTo, t);
if(cloudTo->size())
{
cloudTo = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(cloudTo, t);
}
}
if(cloudFrom->size())

64
guilib/src/ExportDialog.cpp
View File

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ui_exportDialog.h"
#include <QFileDialog>
#include <QPushButton>
namespace rtabmap {
@@ -40,7 +41,11 @@ ExportDialog::ExportDialog(QWidget * parent) :
connect(_ui->toolButton_path, SIGNAL(clicked()), this, SLOT(getPath()));
restoreDefaults();
connect(_ui->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
connect(_ui->spinBox_ignored, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_framerate, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_session, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_rgb, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_depth, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -48,7 +53,7 @@ ExportDialog::ExportDialog(QWidget * parent) :
connect(_ui->checkBox_odom, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_userData, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
_ui->lineEdit_path->setText(QDir::homePath()+QDir::separator()+"output.db");
_ui->lineEdit_path->setText(QDir::currentPath()+QDir::separator()+"output.db");
}
ExportDialog::~ExportDialog()
@@ -56,6 +61,58 @@ ExportDialog::~ExportDialog()
delete _ui;
}
void ExportDialog::saveSettings(QSettings & settings, const QString & group) const
{
if(!group.isEmpty())
{
settings.beginGroup(group);
}
settings.setValue("framesIgnored", this->framesIgnored());
settings.setValue("targetFramerate", this->targetFramerate());
settings.setValue("sessionExported", this->sessionExported());
settings.setValue("rgbExported", this->isRgbExported());
settings.setValue("depthExported", this->isDepthExported());
settings.setValue("depth2dExported", this->isDepth2dExported());
settings.setValue("odomExported", this->isOdomExported());
settings.setValue("userDataExported", this->isUserDataExported());
if(!group.isEmpty())
{
settings.endGroup();
}
}
void ExportDialog::loadSettings(QSettings & settings, const QString & group)
{
if(!group.isEmpty())
{
settings.beginGroup(group);
}
_ui->spinBox_ignored->setValue(settings.value("framesIgnored", this->framesIgnored()).toInt());
_ui->doubleSpinBox_framerate->setValue(settings.value("targetFramerate", this->targetFramerate()).toDouble());
_ui->spinBox_session->setValue(settings.value("sessionExported", this->sessionExported()).toInt());
_ui->checkBox_rgb->setChecked(settings.value("rgbExported", this->isRgbExported()).toBool());
_ui->checkBox_depth->setChecked(settings.value("depthExported", this->isDepthExported()).toBool());
_ui->checkBox_depth2d->setChecked(settings.value("depth2dExported", this->isDepth2dExported()).toBool());
_ui->checkBox_odom->setChecked(settings.value("odomExported", this->isOdomExported()).toBool());
_ui->checkBox_userData->setChecked(settings.value("userDataExported", this->isUserDataExported()).toBool());
if(!group.isEmpty())
{
settings.endGroup();
}
}
void ExportDialog::restoreDefaults()
{
_ui->spinBox_ignored->setValue(0);
_ui->doubleSpinBox_framerate->setValue(0);
_ui->spinBox_session->setValue(-1);
_ui->checkBox_rgb->setChecked(true);
_ui->checkBox_depth->setChecked(true);
_ui->checkBox_depth2d->setChecked(true);
_ui->checkBox_odom->setChecked(true);
_ui->checkBox_userData->setChecked(false);
}
void ExportDialog::getPath()
{
QString path = QFileDialog::getSaveFileName(this, tr("Output database path..."), _ui->lineEdit_path->text(), tr("RTAB-Map database (*.db)"));
@@ -75,6 +132,11 @@ int ExportDialog::framesIgnored() const
return _ui->spinBox_ignored->value();
}
double ExportDialog::targetFramerate() const
{
return _ui->doubleSpinBox_framerate->value();
}
int ExportDialog::sessionExported() const
{
return _ui->spinBox_session->value();

6
guilib/src/ExportDialog.h
View File

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define EXPORTDIALOG_H_
#include <QDialog>
#include <QSettings>
class Ui_ExportDialog;
@@ -43,8 +44,12 @@ public:
virtual ~ExportDialog();
void saveSettings(QSettings & settings, const QString & group) const;
void loadSettings(QSettings & settings, const QString & group);
QString outputPath() const;
int framesIgnored() const;
double targetFramerate() const;
int sessionExported() const;
bool isRgbExported() const;
bool isDepthExported() const;
@@ -57,6 +62,7 @@ signals:
private slots:
void getPath();
void restoreDefaults();
private:
Ui_ExportDialog * _ui;

6
guilib/src/MainWindow.cpp
View File

@@ -981,7 +981,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int rehearsed = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
int localTimeClosures = (int)uValue(stat.data(), Statistics::kLocalLoopTime_closures(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kLocalLoopOdom_corrected(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kOdomCorrectionAccepted(), 0.0f);
_ui->label_matchId->clear();
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
@@ -2035,7 +2035,7 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
}
if(_dbReader)
{
_dbReader->setFrameRate(_preferencesDialog->getGeneralInputRate());
_dbReader->setFrameRate( _preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate());
}
}//This will update the statistics toolbox
@@ -2735,7 +2735,7 @@ void MainWindow::startDetection()
else if(_preferencesDialog->isSourceDatabaseUsed())
{
_dbReader = new DBReader(_preferencesDialog->getSourceDatabasePath().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceDatabaseStampsUsed()?-1:_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceDatabaseOdometryIgnored(),
_preferencesDialog->getSourceDatabaseGoalDelayIgnored());

11
guilib/src/PreferencesDialog.cpp
View File

@@ -299,6 +299,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->source_checkBox_ignoreOdometry, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_ignoreGoalDelay, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_spinBox_databaseStartPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->source_checkBox_useDbStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
//openni group
connect(_ui->groupBox_sourceOpenni, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_cameraRGBD, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -489,6 +491,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str());
_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDLocalLoopDetectionMaxDiffID().c_str());
_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDLocalLoopDetectionPathFilteringRadius().c_str());
_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDLocalLoopDetectionPathOdomPosesUsed().c_str());
_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kLccBowMinInliers().c_str());
_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kLccBowInlierDistance().c_str());
@@ -940,6 +943,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->source_checkBox_ignoreOdometry->setChecked(false);
_ui->source_checkBox_ignoreGoalDelay->setChecked(false);
_ui->source_spinBox_databaseStartPos->setValue(0);
_ui->source_checkBox_useDbStamps->setChecked(false);
_ui->groupBox_sourceOpenni->setChecked(true);
#ifdef _WIN32
@@ -1215,6 +1219,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->source_checkBox_ignoreOdometry->setChecked(settings.value("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked()).toBool());
_ui->source_checkBox_ignoreGoalDelay->setChecked(settings.value("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked()).toBool());
_ui->source_spinBox_databaseStartPos->setValue(settings.value("startPos", _ui->source_spinBox_databaseStartPos->value()).toInt());
_ui->source_checkBox_useDbStamps->setChecked(settings.value("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked()).toBool());
settings.endGroup(); // Database
settings.beginGroup("Openni");
@@ -1482,6 +1487,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("ignoreOdometry", _ui->source_checkBox_ignoreOdometry->isChecked());
settings.setValue("ignoreGoalDelay", _ui->source_checkBox_ignoreGoalDelay->isChecked());
settings.setValue("startPos", _ui->source_spinBox_databaseStartPos->value());
settings.setValue("useDatabaseStamps", _ui->source_checkBox_useDbStamps->isChecked());
settings.endGroup();
settings.beginGroup("Openni");
@@ -2046,6 +2052,7 @@ void PreferencesDialog::selectSourceDatabase(bool user)
_ui->source_checkBox_ignoreGoalDelay->setChecked(false);
_ui->source_database_lineEdit_path->setText(path);
_ui->source_spinBox_databaseStartPos->setValue(0);
_ui->source_checkBox_useDbStamps->setChecked(false);
}
if(_ui->groupBox_sourceDatabase->isChecked())
@@ -3060,6 +3067,10 @@ int PreferencesDialog::getSourceDatabaseStartPos() const
{
return _ui->source_spinBox_databaseStartPos->value();
}
bool PreferencesDialog::getSourceDatabaseStampsUsed() const
{
return _ui->source_checkBox_useDbStamps->isChecked();
}
PreferencesDialog::Src PreferencesDialog::getSourceRGBD() const
{

38
guilib/src/ui/exportDialog.ui
View File

@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>382</width>
<height>291</height>
<height>331</height>
</rect>
</property>
<property name="windowTitle">
@@ -45,6 +45,40 @@
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QDoubleSpinBox" name="doubleSpinBox_framerate">
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
<number>1</number>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Target frame rate</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
@@ -172,7 +206,7 @@
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults</set>
</property>
</widget>
</item>

192
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-806</y>
<y>0</y>
<width>760</width>
<height>1462</height>
<height>1029</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>19</number>
<number>21</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -1603,6 +1603,20 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<property name="toolTip">
<string>Open database viewer</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
<property name="text">
@@ -1620,14 +1634,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (index)</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStartPos">
<property name="minimum">
<number>0</number>
@@ -1637,20 +1651,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<property name="toolTip">
<string>Open database viewer</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_72">
<property name="text">
@@ -1661,7 +1661,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Ignore goal delay.</string>
@@ -1671,13 +1671,30 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_90">
<property name="text">
<string>Use database stamps as input rate.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -5244,14 +5261,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_localSpaceLinksKeptInWM">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_scanMatching_2">
<property name="text">
<string>If local space links are kept in WM.</string>
@@ -5271,6 +5288,23 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_scanMatching_4">
<property name="text">
<string>When comparing to a local path, merge the scan using the odometry poses instead of the ones in the optimized local graph.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
</layout>
@@ -5900,6 +5934,45 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<string>ICP 3D (e.g. Kinect depth)</string>
</property>
<layout class="QGridLayout" name="gridLayout_53" columnstretch="0,1">
<item row="5" column="0">
<widget class="QSpinBox" name="loopClosure_icpIterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_124">
<property name="text">
<string>Max iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="loopClosure_icpSamples">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>5000</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="loopClosure_icpDecimation">
<property name="minimum">
@@ -5910,6 +5983,22 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_109">
<property name="text">
@@ -5972,22 +6061,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="loopClosure_icpSamples">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>5000</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_118">
<property name="text">
@@ -5998,19 +6071,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_122">
<property name="text">
@@ -6021,29 +6081,6 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="loopClosure_icpIterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_124">
<property name="text">
<string>Max iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
<property name="minimum">
@@ -6121,6 +6158,9 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icp2MaxCorrespondenceDistance">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
@@ -6184,7 +6224,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<item row="2" column="1">
<widget class="QLabel" name="label_148">
<property name="text">
<string>Ratio of matching correspondences to accept the transform.</string>
<string>Minimum ratio of correspondences on laser scan maximum size to accept the transform.</string>
</property>
<property name="wordWrap">
<bool>true</bool>