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Added badSignaturesIgnored parameter, set to false will keep bad images in memory and in the map's graph (useful on RGBD-SLAM with TORO optimizations to propagate more equally errors to nodes with blank images)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1063 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-01-15 20:41:58 +00:00
parent 11eed189c9
commit b8c6014ed2
5 changed files with 54 additions and 16 deletions
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20
guilib/src/PreferencesDialog.cpp
View File

@@ -310,6 +310,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_doubleSpinBox_recentWmRatio->setObjectName(Parameters::kMemRecentWmRatio().c_str());
_ui->general_checkBox_RehearsalIdUpdatedToNewOne->setObjectName(Parameters::kMemRehearsalIdUpdatedToNewOne().c_str());
_ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str());
_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
// Database
_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
@@ -1800,6 +1801,25 @@ void PreferencesDialog::addParameter(const QObject * object, bool value)
{
// Add parameter
_parameters.insert(rtabmap::ParametersPair(object->objectName().toStdString(), uBool2Str(value)));
if(value && checkbox == _ui->general_checkBox_activateRGBD)
{
// add all RGBD parameters!
this->addParameter(_ui->rgdb_linearUpdate, _ui->rgdb_linearUpdate->value());
this->addParameter(_ui->rgdb_angularUpdate, _ui->rgdb_linearUpdate->value());
this->addParameter(_ui->odomScanHistory, _ui->odomScanHistory->value());
this->addParameters(_ui->groupBox_local_loop_closure);
this->addParameters(_ui->groupBox_lcc_bow);
if(_ui->loopClosure_icpEnabled->isChecked())
{
this->addParameter(_ui->loopClosure_icpType, _ui->loopClosure_icpType->currentIndex());
}
}
if(value && checkbox == _ui->loopClosure_icpEnabled)
{
this->addParameter(_ui->loopClosure_icpType, _ui->loopClosure_icpType->currentIndex());
}
}
else
{

32
guilib/src/ui/preferencesDialog.ui
View File

@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>955</width>
<height>685</height>
<width>939</width>
<height>724</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>9</number>
<number>12</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -2399,6 +2399,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_retrieved_3">
<property name="text">
<string>Bad signatures are ignored.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -3644,7 +3664,7 @@ Rigid transformations between nodes are saved on the neighbor links of the RTAB-
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<widget class="QGroupBox" name="groupBox_local_loop_closure">
<property name="title">
<string>Local loop closure detection</string>
</property>
@@ -4416,7 +4436,7 @@ Rigid transformations between nodes are saved on the neighbor links of the RTAB-
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox">
<widget class="QGroupBox" name="groupBox_lcc_bow">
<property name="title">
<string>Guess transform</string>
</property>
@@ -4563,7 +4583,7 @@ Rigid transformations between nodes are saved on the neighbor links of the RTAB-
<item>
<widget class="QStackedWidget" name="stackedWidget_loopClosureICP">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_17">
<layout class="QVBoxLayout" name="verticalLayout_37">