mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Fixed bug where very long paths (over maxGraphDepth) were used for scan matching. Added "RGBD/ProximityMaxPaths" parameter (default 3) to limit the number of path comparisons for proximity detection.
This commit is contained in:
matlabbe
@@ -64,24 +64,15 @@
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<width>685</width>
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<height>1896</height>
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<width>686</width>
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@@ -95,7 +86,7 @@
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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>5</number>
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<number>13</number>
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</property>
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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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@@ -4187,16 +4178,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Directory of images (optional settings)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_93">
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<property name="leftMargin">
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<number>0</number>
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<property name="margin">
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<number>0</number>
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<item>
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@@ -7457,20 +7439,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_scanMatching_4">
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<property name="text">
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<string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</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="2" column="0">
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
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<property name="suffix">
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<string> m</string>
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@@ -7486,10 +7455,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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_space3_3">
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<item row="4" column="1">
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<widget class="QLabel" name="label_scanMatching_4">
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<property name="text">
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<string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore.</string>
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<string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7499,7 +7468,20 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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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<item row="3" column="1">
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<widget class="QLabel" name="label_space3_3">
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<property name="text">
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<string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore. A path should also be inside that radius to be considered for proximity detection.</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="4" column="0">
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<widget class="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
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<property name="text">
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<string/>
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@@ -7529,7 +7511,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<item row="6" column="1">
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<widget class="QLabel" name="label_scanMatching_6">
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<property name="text">
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<string>Save scan matching IDs in link's user data.</string>
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@@ -7542,14 +7524,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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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<item row="6" column="0">
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<widget class="QCheckBox" name="checkBox_localSpaceScanMatchingIDsSaved">
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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="1" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_scanMatching_8">
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<property name="text">
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<string>Maximum angle for visual proximity detection.</string>
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@@ -7562,7 +7544,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_angle">
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<property name="suffix">
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<string> degrees</string>
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@@ -7578,6 +7560,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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_space3_4">
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<property name="text">
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<string>Maximum paths compared (from the most recent). 0 means no limit.</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="QSpinBox" name="localDetection_maxPaths">
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<property name="maximum">
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<number>999</number>
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</property>
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<property name="value">
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<number>0</number>
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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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@@ -9373,16 +9378,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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<item>
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@@ -9522,16 +9518,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</widget>
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<widget class="QWidget" name="page_55">
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<item>
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@@ -9689,16 +9676,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="spacing">
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<number>0</number>
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<item>
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@@ -9778,16 +9756,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="spacing">
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<number>0</number>
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<property name="leftMargin">
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<property name="topMargin">
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<property name="bottomMargin">
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<property name="margin">
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<number>0</number>
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<item>
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@@ -9899,16 +9868,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="spacing">
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<number>0</number>
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<item>
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