i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-08 04:20:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added parameter Mem/RotateImagesUpsideUp

Browse Source
This commit is contained in:
matlabbe
2024-01-10 14:54:55 -08:00
parent a0559b156b
commit b7239fdc84
7 changed files with 448 additions and 215 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/Memory.h
+1
View File
@@ -330,6 +330,7 @@ private:
bool _rehearsalWeightIgnoredWhileMoving;
bool _useOdometryFeatures;
bool _useOdometryGravity;
bool _rotateImagesUpsideUp;
bool _createOccupancyGrid;
int _visMaxFeatures;
bool _imagesAlreadyRectified;
corelib/include/rtabmap/core/Parameters.h
+1
View File
@@ -231,6 +231,7 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, true, "Use odometry features instead of regenerating them.");
RTABMAP_PARAM(Mem, UseOdomGravity, bool, false, uFormat("Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if \"%s\" is not zero.", kOptimizerGravitySigma().c_str()));
RTABMAP_PARAM(Mem, CovOffDiagIgnored, bool, true, "Ignore off diagonal values of the covariance matrix.");
RTABMAP_PARAM(Mem, RotateImagesUpsideUp, bool, false, "Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet.");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM(Kp, NNStrategy, int, 1, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
corelib/include/rtabmap/core/util2d.h
+20
View File
@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/core/core.hpp>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/CameraModel.h>
#include <vector>
namespace rtabmap
@@ -163,6 +164,25 @@ void RTABMAP_CORE_EXPORT NMS(
cv::Mat & descriptorsOut,
int border, int dist_thresh, int img_width, int img_height);
/**
* @brief Rotate images and camera model so that the top of the image is up.
*
* The roll value of local transform of the camera model is used to estimate
* if the images have to be rotated. If there is a pitch value higher than
* 45 deg, the original images and camera model will be returned (no rotation will happen).
* The return local transform of the camera model is updated accordingly. The distortion
* model is ignored and won't be transfered to modified camera model, so this function
* expects already rectified images.
*
* @param model a valid camera model
* @param rgb a rgb/grayscale image (set cv::Mat() if not used)
* @param depth a depth image (set cv::Mat() if not used)
*/
void RTABMAP_CORE_EXPORT rotateImagesUpsideUpIfNecessary(
CameraModel & model,
cv::Mat & rgb,
cv::Mat & depth);
} // namespace util3d
} // namespace rtabmap
corelib/src/Memory.cpp
+92
View File
@@ -107,6 +107,7 @@ Memory::Memory(const ParametersMap & parameters) :
_rehearsalWeightIgnoredWhileMoving(Parameters::defaultMemRehearsalWeightIgnoredWhileMoving()),
_useOdometryFeatures(Parameters::defaultMemUseOdomFeatures()),
_useOdometryGravity(Parameters::defaultMemUseOdomGravity()),
_rotateImagesUpsideUp(Parameters::defaultMemRotateImagesUpsideUp()),
_createOccupancyGrid(Parameters::defaultRGBDCreateOccupancyGrid()),
_visMaxFeatures(Parameters::defaultVisMaxFeatures()),
_imagesAlreadyRectified(Parameters::defaultRtabmapImagesAlreadyRectified()),
@@ -597,6 +598,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(params, Parameters::kMemRehearsalWeightIgnoredWhileMoving(), _rehearsalWeightIgnoredWhileMoving);
Parameters::parse(params, Parameters::kMemUseOdomFeatures(), _useOdometryFeatures);
Parameters::parse(params, Parameters::kMemUseOdomGravity(), _useOdometryGravity);
Parameters::parse(params, Parameters::kMemRotateImagesUpsideUp(), _rotateImagesUpsideUp);
Parameters::parse(params, Parameters::kRGBDCreateOccupancyGrid(), _createOccupancyGrid);
Parameters::parse(params, Parameters::kVisMaxFeatures(), _visMaxFeatures);
Parameters::parse(params, Parameters::kRtabmapImagesAlreadyRectified(), _imagesAlreadyRectified);
@@ -4667,6 +4669,96 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
preUpdateThread.start();
}
if(_rotateImagesUpsideUp && !data.imageRaw().empty() && !data.cameraModels().empty())
{
// Currently stereo is not supported
UASSERT(int((data.imageRaw().cols/data.cameraModels().size())*data.cameraModels().size()) == data.imageRaw().cols);
int subInputImageWidth = data.imageRaw().cols/data.cameraModels().size();
int subInputDepthWidth = data.depthRaw().cols/data.cameraModels().size();
int subOutputImageWidth = 0;
int subOutputDepthWidth = 0;
cv::Mat rotatedColorImages;
cv::Mat rotatedDepthImages;
std::vector<CameraModel> rotatedCameraModels;
bool allOutputSizesAreOkay = true;
for(size_t i=0; i<data.cameraModels().size(); ++i)
{
UDEBUG("Rotating camera %ld", i);
cv::Mat rgb = cv::Mat(data.imageRaw(), cv::Rect(subInputImageWidth*i, 0, subInputImageWidth, data.imageRaw().rows));
cv::Mat depth = !data.depthRaw().empty()?cv::Mat(data.depthRaw(), cv::Rect(subInputDepthWidth*i, 0, subInputDepthWidth, data.depthRaw().rows)):cv::Mat();
CameraModel model = data.cameraModels()[i];
util2d::rotateImagesUpsideUpIfNecessary(model, rgb, depth);
if(rotatedColorImages.empty())
{
rotatedColorImages = cv::Mat(cv::Size(rgb.cols * data.cameraModels().size(), rgb.rows), rgb.type());
subOutputImageWidth = rgb.cols;;
if(!depth.empty())
{
rotatedDepthImages = cv::Mat(cv::Size(depth.cols * data.cameraModels().size(), depth.rows), depth.type());
subOutputDepthWidth = depth.cols;
}
}
else if(rgb.cols != subOutputImageWidth || depth.cols != subOutputDepthWidth ||
rgb.rows != rotatedColorImages.rows || depth.rows != rotatedDepthImages.rows)
{
UWARN("Rotated image for camera index %d (rgb=%dx%d depth=%dx%d) doesn't tally "
"with the first camera (rgb=%dx%d, depth=%dx%d). Aborting upside up rotation, "
"will use original image orientation. Set parameter %s to false to avoid "
"this warning.",
i,
rgb.cols, rgb.rows,
depth.cols, depth.rows,
subOutputImageWidth, rotatedColorImages.rows,
subOutputDepthWidth, rotatedDepthImages.rows,
Parameters::kMemRotateImagesUpsideUp().c_str());
allOutputSizesAreOkay = false;
break;
}
rgb.copyTo(cv::Mat(rotatedColorImages, cv::Rect(subOutputImageWidth*i, 0, subOutputImageWidth, rgb.rows)));
if(!depth.empty())
{
depth.copyTo(cv::Mat(rotatedDepthImages, cv::Rect(subOutputDepthWidth*i, 0, subOutputDepthWidth, depth.rows)));
}
rotatedCameraModels.push_back(model);
}
if(allOutputSizesAreOkay)
{
data.setRGBDImage(rotatedColorImages, rotatedDepthImages, rotatedCameraModels);
// Clear any features to avoid confusion with the rotated cameras.
if(!data.keypoints().empty() || !data.keypoints3D().empty() || !data.descriptors().empty())
{
if(_useOdometryFeatures)
{
static bool warned = false;
if(!warned)
{
UWARN("Because parameter %s is enabled, parameter %s is inhibited as "
"features have to be regenerated. To avoid this warning, set "
"explicitly %s to false. This message is only "
"printed once.",
Parameters::kMemRotateImagesUpsideUp().c_str(),
Parameters::kMemUseOdomFeatures().c_str(),
Parameters::kMemUseOdomFeatures().c_str());
warned = true;
}
}
data.setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
}
}
else if(_rotateImagesUpsideUp)
{
static bool warned = false;
if(!warned)
{
UWARN("Parameter %s can only be used with RGB-only or RGB-D cameras. "
"Ignoring upside up rotation. This message is only printed once.",
Parameters::kMemRotateImagesUpsideUp().c_str());
warned = true;
}
}
unsigned int preDecimation = 1;
std::vector<cv::Point3f> keypoints3D;
SensorData decimatedData;
corelib/src/util2d.cpp
+92
View File
@@ -2202,6 +2202,98 @@ void NMS(
}
}
void rotateImagesUpsideUpIfNecessary(
CameraModel & model,
cv::Mat & rgb,
cv::Mat & depth)
{
float roll,pitch,yaw;
// remove optical rotation
Transform localTransform = model.localTransform()*CameraModel::opticalRotation().inverse();
localTransform.getEulerAngles(roll, pitch, yaw);
UDEBUG("roll=%f pitch=%f yaw=%f", roll, pitch, yaw);
if(fabs(pitch > M_PI/4))
{
// Return original because of ambiguity for what would be considered up...
UDEBUG("Ignoring image rotation as pitch(%f)>Pi/4", pitch);
return;
}
if(roll<0)
{
roll+=2*M_PI;
}
if(roll >= M_PI/4 && roll < 3*M_PI/4)
{
UDEBUG("ROTATION_90 (roll=%f)", roll);
if(!rgb.empty())
{
cv::flip(rgb,rgb,1);
cv::transpose(rgb,rgb);
}
if(!depth.empty())
{
cv::flip(depth,depth,1);
cv::transpose(depth,depth);
}
cv::Size sizet(model.imageHeight(), model.imageWidth());
model = CameraModel(
model.fy(),
model.fx(),
model.cy(),
model.cx()>0?model.imageWidth()-model.cx():0,
model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
model.setImageSize(sizet);
}
else if(roll >= 3*M_PI/4 && roll < 5*M_PI/4)
{
UDEBUG("ROTATION_180 (roll=%f)", roll);
if(!rgb.empty())
{
cv::flip(rgb,rgb,1);
cv::flip(rgb,rgb,0);
}
if(!depth.empty())
{
cv::flip(depth,depth,1);
cv::flip(depth,depth,0);
}
cv::Size sizet(model.imageWidth(), model.imageHeight());
model = CameraModel(
model.fx(),
model.fy(),
model.cx()>0?model.imageWidth()-model.cx():0,
model.cy()>0?model.imageHeight()-model.cy():0,
model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
model.setImageSize(sizet);
}
else if(roll >= 5*M_PI/4 && roll < 7*M_PI/4)
{
UDEBUG("ROTATION_270 (roll=%f)", roll);
if(!rgb.empty())
{
cv::transpose(rgb,rgb);
cv::flip(rgb,rgb,1);
}
if(!depth.empty())
{
cv::transpose(depth,depth);
cv::flip(depth,depth,1);
}
cv::Size sizet(model.imageHeight(), model.imageWidth());
model = CameraModel(
model.fy(),
model.fx(),
model.cy()>0?model.imageHeight()-model.cy():0,
model.cx(),
model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
model.setImageSize(sizet);
}
else
{
UDEBUG("ROTATION_0 (roll=%f)", roll);
}
}
}
}
guilib/src/PreferencesDialog.cpp
+1
View File
@@ -954,6 +954,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_doubleSpinBox_laserScanNormalRadius->setObjectName(Parameters::kMemLaserScanNormalRadius().c_str());
_ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str());
_ui->memCovOffDiagIgnored->setObjectName(Parameters::kMemCovOffDiagIgnored().c_str());
_ui->general_checkBox_rotateImagesUpsideUp->setObjectName(Parameters::kMemRotateImagesUpsideUp().c_str());
// Database
_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
guilib/src/ui/preferencesDialog.ui
+241 -215
View File
@@ -65,7 +65,7 @@
<x>0</x>
<y>0</y>
<width>713</width>
<height>3893</height>
<height>3933</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>8</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -9258,17 +9258,63 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
<item row="14" column="0">
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
<property name="minimum">
<number>1</number>
<item row="15" column="1">
<widget class="QLabel" name="label_retrieved_13">
<property name="text">
<string>Image pre decimation. Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If Vocabulary-&gt;Depth As Mask is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.</string>
</property>
<property name="maximum">
<number>16</number>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="15" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_transferSortingByWeightId">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_createMapLabels">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
<string>Image post decimation. Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than Pre Decimation, data already decimated is saved (no need to re-decimate the image).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
<property name="minimum">
<number>1</number>
@@ -9278,23 +9324,33 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
<number>1</number>
<item row="11" column="0">
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
<property name="text">
<string/>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>15</number>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_retrieved_10">
<item row="11" column="1">
<widget class="QLabel" name="label_retrieved_12">
<property name="text">
<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</string>
<string>Raw descriptors kept in memory.</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="1">
<widget class="QLabel" name="label_retrieved_11">
<property name="text">
<string>Create map labels. The first node of a map will be labelled as &quot;map#&quot; where # is the map ID.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -9323,54 +9379,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_maxRetrieved">
<property name="maximum">
<number>999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_reduceGraph">
<item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
<string/>
</property>
@@ -9392,8 +9402,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_createMapLabels">
<item row="9" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
</property>
@@ -9402,6 +9412,78 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_retrieved_10">
<property name="text">
<string>Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="general_checkBox_saveIntermediateNodeData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_retrieved_15">
<property name="text">
<string>Multi-threaded compression.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_ratioRecent">
<property name="text">
<string>T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="general_checkBox_generateIds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_retrieved_16">
<property name="text">
<string>Save intermediate node data.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_retrieved_5">
<property name="text">
@@ -9415,21 +9497,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_retrieved_11">
<property name="text">
<string>Create map labels. The first node of a map will be labelled as &quot;map#&quot; where # is the map ID.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
<item row="7" column="0">
<widget class="QCheckBox" name="general_checkBox_reduceGraph">
<property name="text">
<string/>
</property>
@@ -9438,10 +9507,20 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_retrieved_12">
<item row="15" column="0">
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_retrieved_7">
<property name="text">
<string>Raw descriptors kept in memory.</string>
<string>On transfer, signatures are sorted by weight-&gt;ID (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight-&gt;Age (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -9451,10 +9530,72 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_retrieved_13">
<item row="0" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>15</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>Image pre decimation. Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If Vocabulary-&gt;Depth As Mask is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.</string>
<string>STM size : Short-term memory size.</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_maxRetrieved">
<property name="maximum">
<number>999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_retrieved_9">
<property name="text">
<string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -9490,62 +9631,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="general_checkBox_generateIds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_transferSortingByWeightId">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_retrieved_9">
<property name="text">
<string>Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>STM size : Short-term memory size.</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
<property name="text">
@@ -9556,10 +9641,13 @@ 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_ratioRecent">
<item row="14" column="1">
<widget class="QLabel" name="label_retrieved_19">
<property name="toolTip">
<string>This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet.</string>
</property>
<property name="text">
<string>T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred.</string>
<string>Rotate images so that upside is up if they are not already.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -9569,34 +9657,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_retrieved_6">
<property name="text">
<string>Image post decimation. Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than Pre Decimation, data already decimated is saved (no need to re-decimate the image).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_retrieved_7">
<property name="text">
<string>On transfer, signatures are sorted by weight-&gt;ID (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight-&gt;Age (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
<item row="14" column="0">
<widget class="QCheckBox" name="general_checkBox_rotateImagesUpsideUp">
<property name="text">
<string/>
</property>
@@ -9605,42 +9667,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="general_checkBox_saveIntermediateNodeData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_retrieved_15">
<property name="text">
<string>Multi-threaded compression.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_retrieved_16">
<property name="text">
<string>Save intermediate node data.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
<item>