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Gui: added missing OdomF2M/ScanRange parameter

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This commit is contained in:
matlabbe
2019-12-11 17:17:29 -05:00
parent 62a2af193c
commit af9e113112
3 changed files with 53 additions and 23 deletions
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4
corelib/src/odometry/OdometryF2M.cpp
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@@ -94,8 +94,8 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustmentMaxFrames(), bundleMaxFrames_); Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustmentMaxFrames(), bundleMaxFrames_);
Parameters::parse(parameters, Parameters::kOdomF2MValidDepthRatio(), validDepthRatio_); Parameters::parse(parameters, Parameters::kOdomF2MValidDepthRatio(), validDepthRatio_);
Parameters::parse(parameters_, Parameters::kIcpPointToPlaneK(), pointToPlaneK_); Parameters::parse(parameters, Parameters::kIcpPointToPlaneK(), pointToPlaneK_);
Parameters::parse(parameters_, Parameters::kIcpPointToPlaneRadius(), pointToPlaneRadius_); Parameters::parse(parameters, Parameters::kIcpPointToPlaneRadius(), pointToPlaneRadius_);
UASSERT(bundleMaxFrames_ >= 0); UASSERT(bundleMaxFrames_ >= 0);
ParametersMap bundleParameters = parameters; ParametersMap bundleParameters = parameters;

1
guilib/src/PreferencesDialog.cpp
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@@ -1107,6 +1107,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_odom_f2m_scanMaxSize->setObjectName(Parameters::kOdomF2MScanMaxSize().c_str()); _ui->spinBox_odom_f2m_scanMaxSize->setObjectName(Parameters::kOdomF2MScanMaxSize().c_str());
_ui->doubleSpinBox_odom_f2m_scanRadius->setObjectName(Parameters::kOdomF2MScanSubtractRadius().c_str()); _ui->doubleSpinBox_odom_f2m_scanRadius->setObjectName(Parameters::kOdomF2MScanSubtractRadius().c_str());
_ui->doubleSpinBox_odom_f2m_scanAngle->setObjectName(Parameters::kOdomF2MScanSubtractAngle().c_str()); _ui->doubleSpinBox_odom_f2m_scanAngle->setObjectName(Parameters::kOdomF2MScanSubtractAngle().c_str());
_ui->doubleSpinBox_odom_f2m_scanRange->setObjectName(Parameters::kOdomF2MScanRange().c_str());
_ui->odom_f2m_validDepthRatio->setObjectName(Parameters::kOdomF2MValidDepthRatio().c_str()); _ui->odom_f2m_validDepthRatio->setObjectName(Parameters::kOdomF2MValidDepthRatio().c_str());
_ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str()); _ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str());
_ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str()); _ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str());

71
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-585</y>
<width>680</width> <width>680</width>
<height>3083</height> <height>3083</height>
</rect> </rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>21</number> <number>19</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">
@@ -12832,6 +12832,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="value">
<double>0.025000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1"> <item row="3" column="1">
<widget class="QLabel" name="label_215"> <widget class="QLabel" name="label_215">
<property name="text"> <property name="text">
@@ -12907,20 +12920,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="7" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="value">
<double>0.025000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_357"> <widget class="QLabel" name="label_357">
<property name="text"> <property name="text">
<string>[Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel.</string> <string>[Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel.</string>
@@ -12933,14 +12933,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="0"> <item row="8" column="0">
<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames"> <widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
<property name="maximum"> <property name="maximum">
<number>999999</number> <number>999999</number>
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1"> <item row="8" column="1">
<widget class="QLabel" name="label_358"> <widget class="QLabel" name="label_358">
<property name="text"> <property name="text">
<string>[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).</string> <string>[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).</string>
@@ -12953,7 +12953,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="0"> <item row="7" column="0">
<widget class="QComboBox" name="odom_f2m_bundleStrategy"> <widget class="QComboBox" name="odom_f2m_bundleStrategy">
<property name="sizeAdjustPolicy"> <property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum> <enum>QComboBox::AdjustToContents</enum>
@@ -13009,7 +13009,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1"> <item row="6" column="1">
<widget class="QLabel" name="label_524"> <widget class="QLabel" name="label_524">
<property name="text"> <property name="text">
<string>[Visual] If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.</string> <string>[Visual] If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.</string>
@@ -13022,7 +13022,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0"> <item row="6" column="0">
<widget class="QDoubleSpinBox" name="odom_f2m_validDepthRatio"> <widget class="QDoubleSpinBox" name="odom_f2m_validDepthRatio">
<property name="suffix"> <property name="suffix">
<string/> <string/>
@@ -13041,6 +13041,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1">
<widget class="QLabel" name="label_564">
<property name="text">
<string>[Geometry] Distance Range used to filter points of local map (when &gt; 0). 0 means local map is updated using time and not range.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRange">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>