mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Parameters: added RGBD/LoopCovLimited, refactored "detect more loop closures" in MainWindow/DBViewer/rtabmap
This commit is contained in:
matlabbe
@@ -94,9 +94,9 @@
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<x>0</x>
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<y>-287</y>
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<width>681</width>
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@@ -117,7 +117,7 @@
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<enum>QFrame::Raised</enum>
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<property name="currentIndex">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -8896,51 +8896,9 @@ 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="0" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
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<property name="suffix">
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<string> m</string>
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<property name="decimals">
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<number>3</number>
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<property name="singleStep">
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<double>0.100000000000000</double>
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<item row="10" column="0">
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<item row="11" column="0">
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<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_153">
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<property name="text">
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<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</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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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
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<property name="suffix">
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<string> rad</string>
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<property name="decimals">
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<number>2</number>
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<property name="maximum">
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<double>3.140000000000000</double>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</widget>
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<item row="7" column="0">
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<widget class="QCheckBox" name="loopClosure_reextract">
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<property name="text">
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@@ -8967,7 +8925,7 @@ 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="11" column="1">
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<item row="12" column="1">
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<widget class="QLabel" name="label_scanMatching_5">
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<property name="text">
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<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
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@@ -9013,53 +8971,7 @@ 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="4" column="1">
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<widget class="QLabel" name="label_scanMatching_2">
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<property name="text">
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<string>When loading a database, ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.</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="8" column="0">
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<widget class="QCheckBox" name="loopClosure_bunlde">
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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="12" column="1">
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<widget class="QLabel" name="label_space2">
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<property name="text">
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<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</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="10" column="1">
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<widget class="QLabel" name="label_scanMatching_3">
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<property name="text">
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<string>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).</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="12" column="0">
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<item row="13" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_radius">
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<property name="suffix">
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<string> m</string>
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@@ -9076,7 +8988,7 @@ 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="11" column="0">
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<item row="12" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
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<property name="suffix">
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<string/>
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@@ -9121,22 +9033,6 @@ 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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<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
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<property name="suffix">
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<string> rad/s</string>
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</property>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="maximum">
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<double>3.140000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_scanMatching_10">
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<property name="text">
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@@ -9170,6 +9066,130 @@ 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="0" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_153">
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<property name="text">
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<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</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="QDoubleSpinBox" name="rgdb_angularUpdate">
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<property name="suffix">
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<string> rad</string>
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</property>
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<property name="decimals">
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<number>2</number>
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||||
</property>
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<property name="maximum">
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<double>3.140000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_scanMatching_2">
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<property name="text">
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<string>When loading a database, ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.</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="8" column="0">
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<widget class="QCheckBox" name="loopClosure_bunlde">
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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="13" column="1">
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<widget class="QLabel" name="label_space2">
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<property name="text">
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<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</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="11" column="1">
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<widget class="QLabel" name="label_scanMatching_3">
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<property name="text">
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<string>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).</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="3" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
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<property name="suffix">
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<string> rad/s</string>
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</property>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="maximum">
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||||
<double>3.140000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="10" column="1">
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<widget class="QLabel" name="label_scanMatching_12">
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<property name="text">
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<string>Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.</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="10" column="0">
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<widget class="QCheckBox" name="rgbd_loopCovLimited">
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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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</layout>
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</widget>
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</item>
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