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New parameters: max accepted ICP translation error, new map on large odometry error

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1126 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-19 19:00:38 +00:00
parent 5dbf6678ce
commit b44e01a3bb
8 changed files with 140 additions and 13 deletions
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2
guilib/src/MainWindow.cpp
View File

@@ -1003,7 +1003,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_matchId->setText(QString("Match ID = %1 [%2]").arg(stat.loopClosureId()).arg(loopMapId));
}
float elapsedTime = static_cast<float>(totalTime.elapsed());
UINFO("Processing statistics time = %fs", elapsedTime/1000.0f);
UINFO("Updating GUI time = %fs", elapsedTime/1000.0f);
_ui->statsToolBox->updateStat("/Gui refresh stats/ms", stat.refImageId(), elapsedTime);
if(_ui->actionAuto_screen_capture->isChecked() && !_autoScreenCaptureOdomSync)
{

2
guilib/src/PreferencesDialog.cpp
View File

@@ -326,6 +326,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_activateRGBD->setObjectName(Parameters::kRGBDEnabled().c_str());
_ui->rgdb_linearUpdate->setObjectName(Parameters::kRGBDLinearUpdate().c_str());
_ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str());
_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
_ui->odomScanHistory->setObjectName(Parameters::kRGBDScanMatchingSize().c_str());
_ui->globalDetection_toroIterations->setObjectName(Parameters::kRGBDToroIterations().c_str());
@@ -341,6 +342,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kLccBowMaxDepth().c_str());
_ui->globalDetection_icpType->setObjectName(Parameters::kLccIcpType().c_str());
_ui->globalDetection_icpMaxDistance->setObjectName(Parameters::kLccIcpMaxDistance().c_str());
_ui->loopClosure_icpDecimation->setObjectName(Parameters::kLccIcp3Decimation().c_str());
_ui->loopClosure_icpMaxDepth->setObjectName(Parameters::kLccIcp3MaxDepth().c_str());

68
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>777</width>
<height>826</height>
<width>761</width>
<height>981</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -3733,6 +3733,35 @@ 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_163">
<property name="text">
<string>Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -3821,14 +3850,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>TORO graph optimization iterations</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QSpinBox" name="globalDetection_toroIterations">
<property name="minimum">
<number>1</number>
@@ -3841,6 +3870,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_51">
<property name="text">
<string>Maximum ICP correction distance accepted. A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="globalDetection_icpMaxDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>