mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-08 04:20:20 +08:00
Added RGBD/LocalizationSmoothing parameter and fixed related issues (#1032)
* removed code * added landmark in graph optimization checks * reverted smoothing, only if there is already a previous localization link * Added RGBDLocalizationSmoothing parameter * Update .appveyor.yml * Update .appveyor.yml * Update .appveyor.yml * Update .appveyor.yml * Update .appveyor.yml * Update .appveyor.yml * Update .appveyor.yml * Update .appveyor.yml * Update .appveyor.yml
This commit is contained in:
matlabbe
+4
-1
@@ -17,6 +17,9 @@ init:
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- call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
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install:
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# To download from google drive
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- set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;%PATH%
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- ps: py -m pip --disable-pip-version-check install gdown
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# Qt
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- set QTDIR=C:\Qt\5.10.1\msvc2015_64
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# make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
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@@ -73,7 +76,7 @@ install:
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- ps: "ls \"C:/Program Files/PCL\""
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- set PATH=%PATH%;C:\Program Files\PCL\bin
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# zlib
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- ps: wget 'https://docs.google.com/uc?authuser=0&id=0B46akLGdg-uaYm9MTTI4MUtUcmc&export=download' -outfile zlib-1.2.8-vc2010-x64.zip
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- ps: gdown -q 0B46akLGdg-uaYm9MTTI4MUtUcmc
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- ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
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- ECHO "Installed zlib:"
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- ps: "ls \"C:/Program Files/zlib\""
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@@ -376,6 +376,7 @@ class RTABMAP_CORE_EXPORT Parameters
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RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters.");
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RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "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.");
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RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
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RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
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// Local/Proximity loop closure detection
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RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
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@@ -326,6 +326,7 @@ private:
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bool _loopCovLimited;
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bool _loopGPS;
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int _maxOdomCacheSize;
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bool _localizationSmoothing;
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bool _createGlobalScanMap;
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float _markerPriorsLinearVariance;
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float _markerPriorsAngularVariance;
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+26
-21
@@ -902,7 +902,7 @@ void computeMaxGraphErrors(
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float & maxAngularError,
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const Link ** maxLinearErrorLink,
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const Link ** maxAngularErrorLink,
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bool for3DoF)
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bool force3DoF)
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{
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maxLinearErrorRatio = -1;
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maxAngularErrorRatio = -1;
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@@ -912,8 +912,8 @@ void computeMaxGraphErrors(
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UDEBUG("poses=%d links=%d", (int)poses.size(), (int)links.size());
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for(std::multimap<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
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{
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// ignore links with high variance, priors and landmarks
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if(iter->second.transVariance() <= 1.0 && iter->second.from() != iter->second.to() && iter->second.type() != Link::kLandmark)
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// ignore priors
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if(iter->second.from() != iter->second.to())
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{
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Transform t1 = uValue(poses, iter->second.from(), Transform());
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Transform t2 = uValue(poses, iter->second.to(), Transform());
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@@ -922,7 +922,7 @@ void computeMaxGraphErrors(
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float linearError = uMax3(
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fabs(iter->second.transform().x() - t.x()),
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fabs(iter->second.transform().y() - t.y()),
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for3DoF?0:fabs(iter->second.transform().z() - t.z()));
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force3DoF?0:fabs(iter->second.transform().z() - t.z()));
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UASSERT(iter->second.transVariance(false)>0.0);
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float stddevLinear = sqrt(iter->second.transVariance(false));
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float linearErrorRatio = linearError/stddevLinear;
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@@ -936,25 +936,30 @@ void computeMaxGraphErrors(
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}
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}
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float opt_roll,opt_pitch,opt_yaw;
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float link_roll,link_pitch,link_yaw;
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t.getEulerAngles(opt_roll, opt_pitch, opt_yaw);
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iter->second.transform().getEulerAngles(link_roll, link_pitch, link_yaw);
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float angularError = uMax3(
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for3DoF?0:fabs(opt_roll - link_roll),
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for3DoF?0:fabs(opt_pitch - link_pitch),
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fabs(opt_yaw - link_yaw));
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angularError = angularError>M_PI?2*M_PI-angularError:angularError;
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UASSERT(iter->second.rotVariance(false)>0.0);
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float stddevAngular = sqrt(iter->second.rotVariance(false));
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float angularErrorRatio = angularError/stddevAngular;
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if(angularErrorRatio > maxAngularErrorRatio)
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// For landmark links, don't compute angular error if it doesn't estimate orientation
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if(iter->second.type() != Link::kLandmark ||
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1.0 / static_cast<double>(iter->second.infMatrix().at<double>(5,5)) < 9999.0)
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{
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maxAngularError = angularError;
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maxAngularErrorRatio = angularErrorRatio;
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if(maxAngularErrorLink)
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float opt_roll,opt_pitch,opt_yaw;
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float link_roll,link_pitch,link_yaw;
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t.getEulerAngles(opt_roll, opt_pitch, opt_yaw);
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iter->second.transform().getEulerAngles(link_roll, link_pitch, link_yaw);
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float angularError = uMax3(
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force3DoF?0:fabs(opt_roll - link_roll),
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force3DoF?0:fabs(opt_pitch - link_pitch),
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fabs(opt_yaw - link_yaw));
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angularError = angularError>M_PI?2*M_PI-angularError:angularError;
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UASSERT(iter->second.rotVariance(false)>0.0);
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float stddevAngular = sqrt(iter->second.rotVariance(false));
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float angularErrorRatio = angularError/stddevAngular;
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if(angularErrorRatio > maxAngularErrorRatio)
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{
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*maxAngularErrorLink = &iter->second;
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maxAngularError = angularError;
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maxAngularErrorRatio = angularErrorRatio;
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if(maxAngularErrorLink)
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{
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*maxAngularErrorLink = &iter->second;
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}
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}
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}
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}
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@@ -283,6 +283,10 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
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-landmarkId, inserted.first->second, landmarkSize.at<float>(0,0));
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}
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}
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else
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{
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UDEBUG("Caching landmark size %f for %d", landmarkSize.at<float>(0,0), -landmarkId);
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}
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}
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std::map<int, std::set<int> >::iterator nter = _landmarksIndex.find(landmarkId);
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+27
-15
@@ -147,6 +147,7 @@ Rtabmap::Rtabmap() :
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_loopCovLimited(Parameters::defaultRGBDLoopCovLimited()),
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_loopGPS(Parameters::defaultRtabmapLoopGPS()),
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_maxOdomCacheSize(Parameters::defaultRGBDMaxOdomCacheSize()),
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_localizationSmoothing(Parameters::defaultRGBDLocalizationSmoothing()),
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_createGlobalScanMap(Parameters::defaultRGBDProximityGlobalScanMap()),
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_markerPriorsLinearVariance(Parameters::defaultMarkerPriorsVarianceLinear()),
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_markerPriorsAngularVariance(Parameters::defaultMarkerPriorsVarianceAngular()),
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@@ -618,6 +619,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
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Parameters::parse(parameters, Parameters::kRGBDLoopCovLimited(), _loopCovLimited);
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Parameters::parse(parameters, Parameters::kRtabmapLoopGPS(), _loopGPS);
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Parameters::parse(parameters, Parameters::kRGBDMaxOdomCacheSize(), _maxOdomCacheSize);
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Parameters::parse(parameters, Parameters::kRGBDLocalizationSmoothing(), _localizationSmoothing);
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Parameters::parse(parameters, Parameters::kRGBDProximityGlobalScanMap(), _createGlobalScanMap);
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Parameters::parse(parameters, Parameters::kMarkerPriorsVarianceLinear(), _markerPriorsLinearVariance);
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@@ -3173,10 +3175,10 @@ bool Rtabmap::process(
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&maxLinearLink,
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&maxAngularLink,
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_graphOptimizer->isSlam2d());
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if(maxLinearLink == 0 && maxAngularLink==0 && _maxOdomCacheSize>0)
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if(maxLinearLink == 0 && maxAngularLink==0)
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{
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UWARN("Could not compute graph errors! Wrong loop closures could be accepted!");
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optPoses = posesOut;
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UWARN("Could not compute graph errors! Rejecting localization!");
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rejectLocalization = true;
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}
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if(maxLinearLink)
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@@ -3287,10 +3289,10 @@ bool Rtabmap::process(
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&maxLinearLink,
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&maxAngularLink,
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_graphOptimizer->isSlam2d());
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if(maxLinearLink == 0 && maxAngularLink==0 && _maxOdomCacheSize>0)
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if(maxLinearLink == 0 && maxAngularLink==0)
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{
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UWARN("Could not compute graph errors! Wrong loop closures could be accepted!");
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optPoses = posesOut;
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UWARN("Could not compute graph errors! Rejecting localization!");
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rejectLocalization = true;
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}
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if(maxLinearLink)
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@@ -3395,16 +3397,26 @@ bool Rtabmap::process(
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Transform newOptPoseInv = optPoses.at(signature->id()).inverse();
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for(std::multimap<int, Link>::iterator iter=localizationLinks.begin(); iter!=localizationLinks.end(); ++iter)
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{
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Transform newT = newOptPoseInv * optPoses.at(iter->first);
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UDEBUG("Adjusted localization link %d->%d after optimization", iter->second.from(), iter->second.to());
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UDEBUG("from %s", iter->second.transform().prettyPrint().c_str());
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UDEBUG(" to %s", newT.prettyPrint().c_str());
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iter->second.setTransform(newT);
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// Update link in the referred signatures
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if(iter->first > 0)
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_memory->updateLink(iter->second, false);
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if(!_localizationSmoothing)
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{
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// Add original link without optimization
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UDEBUG("Adding new odom cache constraint %d->%d (%s)",
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iter->second.from(), iter->second.to(), iter->second.transform().prettyPrint().c_str());
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}
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else
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{
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// Adjust with optimized poses, this will smooth the localization
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Transform newT = newOptPoseInv * optPoses.at(iter->first);
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UDEBUG("Adjusted localization link %d->%d after optimization", iter->second.from(), iter->second.to());
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UDEBUG("from %s", iter->second.transform().prettyPrint().c_str());
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UDEBUG(" to %s", newT.prettyPrint().c_str());
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iter->second.setTransform(newT);
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// Update link in the referred signatures
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if(iter->first > 0)
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_memory->updateLink(iter->second, false);
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}
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_odomCacheConstraints.insert(std::make_pair(signature->id(), iter->second));
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}
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@@ -816,10 +816,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
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connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
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connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path()));
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connect(_ui->comboBox_k4a_rgb_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_k4a_framerate, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_k4a_rgb_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_k4a_framerate, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_k4a_depth_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkbox_k4a_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkbox_k4a_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_k4a_mkv, SIGNAL(clicked()), this, SLOT(selectSourceMKVPath()));
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connect(_ui->toolButton_source_distortionModel, SIGNAL(clicked()), this, SLOT(selectSourceDistortionModel()));
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connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(visualizeDistortionModel()));
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@@ -1146,6 +1146,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->checkbox_rgbd_createOccupancyGrid->setObjectName(Parameters::kRGBDCreateOccupancyGrid().c_str());
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_ui->RGBDMarkerDetection->setObjectName(Parameters::kRGBDMarkerDetection().c_str());
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_ui->spinBox_maxOdomCacheSize->setObjectName(Parameters::kRGBDMaxOdomCacheSize().c_str());
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_ui->checkbox_localizationSmoothing->setObjectName(Parameters::kRGBDLocalizationSmoothing().c_str());
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// Registration
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_ui->reg_repeatOnce->setObjectName(Parameters::kRegRepeatOnce().c_str());
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@@ -2013,9 +2014,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->lineEdit_rs2_jsonFile->clear();
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_ui->lineEdit_openniOniPath->clear();
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_ui->lineEdit_openni2OniPath->clear();
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_ui->comboBox_k4a_rgb_resolution->setCurrentIndex(0);
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_ui->comboBox_k4a_framerate->setCurrentIndex(2);
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_ui->comboBox_k4a_depth_resolution->setCurrentIndex(2);
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_ui->comboBox_k4a_rgb_resolution->setCurrentIndex(0);
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_ui->comboBox_k4a_framerate->setCurrentIndex(2);
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_ui->comboBox_k4a_depth_resolution->setCurrentIndex(2);
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_ui->checkbox_k4a_irDepth->setChecked(false);
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_ui->lineEdit_k4a_mkv->clear();
|
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_ui->source_checkBox_useMKVStamps->setChecked(true);
|
||||
@@ -2464,9 +2465,9 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
|
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settings.endGroup(); // K4W2
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|
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settings.beginGroup("K4A");
|
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_ui->comboBox_k4a_rgb_resolution->setCurrentIndex(settings.value("rgb_resolution", _ui->comboBox_k4a_rgb_resolution->currentIndex()).toInt());
|
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_ui->comboBox_k4a_framerate->setCurrentIndex(settings.value("framerate", _ui->comboBox_k4a_framerate->currentIndex()).toInt());
|
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_ui->comboBox_k4a_depth_resolution->setCurrentIndex(settings.value("depth_resolution", _ui->comboBox_k4a_depth_resolution->currentIndex()).toInt());
|
||||
_ui->comboBox_k4a_rgb_resolution->setCurrentIndex(settings.value("rgb_resolution", _ui->comboBox_k4a_rgb_resolution->currentIndex()).toInt());
|
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_ui->comboBox_k4a_framerate->setCurrentIndex(settings.value("framerate", _ui->comboBox_k4a_framerate->currentIndex()).toInt());
|
||||
_ui->comboBox_k4a_depth_resolution->setCurrentIndex(settings.value("depth_resolution", _ui->comboBox_k4a_depth_resolution->currentIndex()).toInt());
|
||||
_ui->checkbox_k4a_irDepth->setChecked(settings.value("ir", _ui->checkbox_k4a_irDepth->isChecked()).toBool());
|
||||
_ui->lineEdit_k4a_mkv->setText(settings.value("mkvPath", _ui->lineEdit_k4a_mkv->text()).toString());
|
||||
_ui->source_checkBox_useMKVStamps->setChecked(settings.value("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked()).toBool());
|
||||
@@ -2991,9 +2992,9 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
|
||||
settings.endGroup(); // K4W2
|
||||
|
||||
settings.beginGroup("K4A");
|
||||
settings.setValue("rgb_resolution", _ui->comboBox_k4a_rgb_resolution->currentIndex());
|
||||
settings.setValue("framerate", _ui->comboBox_k4a_framerate->currentIndex());
|
||||
settings.setValue("depth_resolution", _ui->comboBox_k4a_depth_resolution->currentIndex());
|
||||
settings.setValue("rgb_resolution", _ui->comboBox_k4a_rgb_resolution->currentIndex());
|
||||
settings.setValue("framerate", _ui->comboBox_k4a_framerate->currentIndex());
|
||||
settings.setValue("depth_resolution", _ui->comboBox_k4a_depth_resolution->currentIndex());
|
||||
settings.setValue("ir", _ui->checkbox_k4a_irDepth->isChecked());
|
||||
settings.setValue("mkvPath", _ui->lineEdit_k4a_mkv->text());
|
||||
settings.setValue("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked());
|
||||
@@ -6046,9 +6047,9 @@ Camera * PreferencesDialog::createCamera(
|
||||
}
|
||||
|
||||
((CameraK4A*)camera)->setIRDepthFormat(_ui->checkbox_k4a_irDepth->isChecked());
|
||||
((CameraK4A*)camera)->setPreferences(_ui->comboBox_k4a_rgb_resolution->currentIndex(),
|
||||
_ui->comboBox_k4a_framerate->currentIndex(),
|
||||
_ui->comboBox_k4a_depth_resolution->currentIndex());
|
||||
((CameraK4A*)camera)->setPreferences(_ui->comboBox_k4a_rgb_resolution->currentIndex(),
|
||||
_ui->comboBox_k4a_framerate->currentIndex(),
|
||||
_ui->comboBox_k4a_depth_resolution->currentIndex());
|
||||
}
|
||||
else if (driver == kSrcRealSense)
|
||||
{
|
||||
@@ -7059,7 +7060,7 @@ void PreferencesDialog::calibrateOdomSensorExtrinsics()
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// 3 steps calibration: RGB -> IR -> Extrinsic
|
||||
QMessageBox::StandardButton button = QMessageBox::question(this, tr("Calibration"),
|
||||
tr("We will calibrate the extrinsics. Important: Make sure "
|
||||
|
||||
+240
-220
@@ -63,7 +63,7 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-373</y>
|
||||
<y>-611</y>
|
||||
<width>756</width>
|
||||
<height>3657</height>
|
||||
</rect>
|
||||
@@ -95,7 +95,7 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>5</number>
|
||||
<number>12</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
|
||||
@@ -11101,33 +11101,49 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<string>Map Update</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_14">
|
||||
<property name="text">
|
||||
<string>Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used (assuming that registration strategy can deal with transformation estimation without guess).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="0">
|
||||
<widget class="QDoubleSpinBox" name="maxLocalizationDistance">
|
||||
<item row="5" 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>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_152">
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
|
||||
<property name="suffix">
|
||||
<string> m/s</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_identityGuess">
|
||||
<property name="text">
|
||||
<string>Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_7">
|
||||
<property name="text">
|
||||
<string>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 "Optimizer/GravitySigma" is not zero.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -11137,6 +11153,58 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_153">
|
||||
<property name="text">
|
||||
<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>
|
||||
</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_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>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
|
||||
<property name="suffix">
|
||||
<string> rad/s</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>3.140000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="odomScanHistory">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
|
||||
<property name="suffix">
|
||||
@@ -11153,10 +11221,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QCheckBox" name="memCovOffDiagIgnored">
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_16">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -11192,104 +11266,26 @@ 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="QDoubleSpinBox" name="rgdb_newMapOdomChange">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
<item row="18" column="1">
|
||||
<widget class="QLabel" name="label_space2_5">
|
||||
<property name="text">
|
||||
<string>Maximum odometry cache size. Used only in localization mode. This is used to get smoother localizations and to verify localization transforms (when maximum graph error is not null) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</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 name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_bunlde">
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="odomGravity">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_153">
|
||||
<property name="text">
|
||||
<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>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_432">
|
||||
<property name="text">
|
||||
<string>Maximum linear speed to update the map (0 means not limit).</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="rgbd_savedLocalizationIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_linearSpeedUpdate">
|
||||
<property name="suffix">
|
||||
<string> m/s</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" 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>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxOdomCacheSize">
|
||||
<property name="maximum">
|
||||
@@ -11307,10 +11303,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_11">
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_3">
|
||||
<property name="text">
|
||||
<string>Ignore off diagonal values of the odometry covariance matrix.</string>
|
||||
<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>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -11320,6 +11316,33 @@ 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_scanMatching_14">
|
||||
<property name="text">
|
||||
<string>Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used (assuming that registration strategy can deal with transformation estimation without guess).</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="loopClosure_bunlde">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_invertedReg">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_12">
|
||||
<property name="text">
|
||||
@@ -11333,59 +11356,23 @@ 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_scanMatching_7">
|
||||
<property name="text">
|
||||
<string>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 "Optimizer/GravitySigma" is not zero.</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_scanMatching_9">
|
||||
<property name="text">
|
||||
<string>Re-extract visual features when computing loop closure transformations. Raw features are not saved in database.</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="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
|
||||
<property name="suffix">
|
||||
<string> rad/s</string>
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>3.140000000000000</double>
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_loopCovLimited">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_432">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_433">
|
||||
<property name="text">
|
||||
<string>Maximum angular speed to update the map (0 means not limit).</string>
|
||||
<string>Maximum linear speed to update the map (0 means not limit).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -11395,13 +11382,24 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_10">
|
||||
<item row="9" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_reextract">
|
||||
<property name="text">
|
||||
<string>Do local bundle adjustment with neighborhood of the loop closure.</string>
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QCheckBox" name="memCovOffDiagIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching">
|
||||
<property name="text">
|
||||
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link (odometry) with the previous node is refined using ICP registration approach (laser scans required).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -11424,20 +11422,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="odomScanHistory">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="odomGravity">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="1">
|
||||
<widget class="QLabel" name="label_space2_12">
|
||||
<property name="text">
|
||||
@@ -11451,39 +11435,6 @@ 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_scanMatching_3">
|
||||
<property name="text">
|
||||
<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>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_reextract">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="1">
|
||||
<widget class="QLabel" name="label_space2_5">
|
||||
<property name="text">
|
||||
<string>Maximum odometry cache size. Used only in localization mode. This is used to get smoother localizations and to verify localization transforms (when maximum graph error is not null) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_5">
|
||||
<property name="text">
|
||||
@@ -11497,17 +11448,40 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_identityGuess">
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_152">
|
||||
<property name="text">
|
||||
<string>Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</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="rgbd_savedLocalizationIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching">
|
||||
<item row="17" column="0">
|
||||
<widget class="QDoubleSpinBox" name="maxLocalizationDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_11">
|
||||
<property name="text">
|
||||
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link (odometry) with the previous node is refined using ICP registration approach (laser scans required).</string>
|
||||
<string>Ignore off diagonal values of the odometry covariance matrix.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -11517,10 +11491,10 @@ 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_scanMatching_16">
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_10">
|
||||
<property name="text">
|
||||
<string>Inverted registration. On loop closure, do registration from the target to reference instead of reference to target.</string>
|
||||
<string>Do local bundle adjustment with neighborhood of the loop closure.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -11530,8 +11504,54 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QCheckBox" name="loopClosure_invertedReg">
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="rgbd_loopCovLimited">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_scanMatching_9">
|
||||
<property name="text">
|
||||
<string>Re-extract visual features when computing loop closure transformations. Raw features are not saved in database.</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_433">
|
||||
<property name="text">
|
||||
<string>Maximum angular speed to update the map (0 means not limit).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="1">
|
||||
<widget class="QLabel" name="label_space2_18">
|
||||
<property name="text">
|
||||
<string>Localization smoothing. Used only in localization mode. Adjust localization constraints based on optimized odometry cache poses.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_localizationSmoothing">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
|
||||
Reference in New Issue
Block a user