mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-09 13:00:19 +08:00
Adding options to bound OdometryF2M keyframes (#1448)
* Added OdomF2M/BundleAdjustmentMinMotion and OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature parameters * Added new odom stats localBundleMaxKeyFramesForInlier * Adjusted how localBundleMaxKeyFramesForInlier is computed when OdomF2M/BundleAdjustmentMaxFrames is used. * optimization: Dont compute average pixel distance if parameter is not used
This commit is contained in:
matlabbe
@@ -49,6 +49,8 @@ public:
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localBundleOutliers(0),
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localBundleConstraints(0),
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localBundleTime(0),
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localBundleAvgInlierDistance(0.0f),
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localBundleMaxKeyFramesForInlier(0),
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keyFrameAdded(false),
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timeDeskewing(0.0f),
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timeEstimation(0.0f),
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@@ -76,6 +78,8 @@ public:
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output.localBundleTime = localBundleTime;
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output.localBundlePoses = localBundlePoses;
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output.localBundleModels = localBundleModels;
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output.localBundleAvgInlierDistance = localBundleAvgInlierDistance;
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output.localBundleMaxKeyFramesForInlier = localBundleMaxKeyFramesForInlier;
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output.keyFrameAdded = keyFrameAdded;
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output.timeDeskewing = timeDeskewing;
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output.timeEstimation = timeEstimation;
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@@ -106,6 +110,8 @@ public:
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float localBundleTime;
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std::map<int, Transform> localBundlePoses;
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std::map<int, std::vector<CameraModel> > localBundleModels;
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float localBundleAvgInlierDistance;
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int localBundleMaxKeyFramesForInlier;
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bool keyFrameAdded;
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float timeDeskewing;
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float timeEstimation;
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@@ -488,6 +488,8 @@ class RTABMAP_CORE_EXPORT Parameters
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RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
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#endif
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RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
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RTABMAP_PARAM(OdomF2M, BundleAdjustmentMinMotion, float, 0.0, "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.");
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RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
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// Odometry Mono
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RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
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@@ -69,6 +69,8 @@ private:
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float scanMapMaxRange_;
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int bundleAdjustment_;
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int bundleMaxFrames_;
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float bundleMinMotion_;
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int bundleMaxKeyFramesPerFeature_;
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float validDepthRatio_;
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int pointToPlaneK_;
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float pointToPlaneRadius_;
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@@ -67,6 +67,8 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
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scanMapMaxRange_(Parameters::defaultOdomF2MScanRange()),
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bundleAdjustment_(Parameters::defaultOdomF2MBundleAdjustment()),
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bundleMaxFrames_(Parameters::defaultOdomF2MBundleAdjustmentMaxFrames()),
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bundleMinMotion_(Parameters::defaultOdomF2MBundleAdjustmentMinMotion()),
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bundleMaxKeyFramesPerFeature_(Parameters::defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()),
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validDepthRatio_(Parameters::defaultOdomF2MValidDepthRatio()),
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pointToPlaneK_(Parameters::defaultIcpPointToPlaneK()),
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pointToPlaneRadius_(Parameters::defaultIcpPointToPlaneRadius()),
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@@ -91,6 +93,8 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
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Parameters::parse(parameters, Parameters::kOdomF2MScanRange(), scanMapMaxRange_);
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Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustment(), bundleAdjustment_);
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Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustmentMaxFrames(), bundleMaxFrames_);
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Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustmentMinMotion(), bundleMinMotion_);
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Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature(), bundleMaxKeyFramesPerFeature_);
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Parameters::parse(parameters, Parameters::kOdomF2MValidDepthRatio(), validDepthRatio_);
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Parameters::parse(parameters, Parameters::kIcpPointToPlaneK(), pointToPlaneK_);
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@@ -280,6 +284,7 @@ Transform OdometryF2M::computeTransform(
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std::map<int, Transform> bundlePoses;
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std::multimap<int, Link> bundleLinks;
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std::map<int, std::vector<CameraModel> > bundleModels;
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float bundleAvgInlierDistance = 0.0f;
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for(int guessIteration=0;
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guessIteration<(!guess.isNull()&®Pipeline_->isImageRequired()?2:1) && transform.isNull();
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@@ -386,6 +391,7 @@ Transform OdometryF2M::computeTransform(
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UDEBUG("Fill matches (%d)", (int)regInfo.inliersIDs.size());
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std::map<int, std::map<int, FeatureBA> > wordReferences;
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size_t maxKeyFramesForInlier = 0;
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for(unsigned int i=0; i<regInfo.inliersIDs.size(); ++i)
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{
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int wordId =regInfo.inliersIDs[i];
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@@ -398,6 +404,10 @@ Transform OdometryF2M::computeTransform(
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// all other references
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std::map<int, std::map<int, FeatureBA> >::iterator refIter = bundleWordReferences_.find(wordId);
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UASSERT_MSG(refIter != bundleWordReferences_.end(), uFormat("wordId=%d", wordId).c_str());
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if(info && refIter->second.size() > maxKeyFramesForInlier)
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{
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maxKeyFramesForInlier = refIter->second.size();
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}
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std::map<int, FeatureBA> references;
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int step = bundleMaxFrames_>0?(refIter->second.size() / bundleMaxFrames_):1;
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@@ -472,6 +482,7 @@ Transform OdometryF2M::computeTransform(
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{
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info->localBundlePoses = bundlePoses;
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info->localBundleModels = bundleModels;
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info->localBundleMaxKeyFramesForInlier = maxKeyFramesForInlier;
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}
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UDEBUG("Local Bundle Adjustment Before: %s", transform.prettyPrint().c_str());
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@@ -534,13 +545,52 @@ Transform OdometryF2M::computeTransform(
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regInfo.covariance.at<double>(4,4) *= 0.1;
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if(regInfo.covariance.at<double>(5,5)>thrAng)
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regInfo.covariance.at<double>(5,5) *= 0.1;
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// Estimate how much the new frame moved from previous frame in term of pixels
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if(bundleMinMotion_ > 0.0f)
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{
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UASSERT(!bundlePoses_.empty());
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int count = 0;
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for(unsigned int i=0; i<regInfo.inliersIDs.size(); ++i)
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{
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std::map<int, std::map<int, FeatureBA> >::iterator wter = wordReferences.find(regInfo.inliersIDs[i]);
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if(wter != wordReferences.end())
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{
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std::map<int, FeatureBA>::iterator fter = wter->second.find(bundlePoses_.rbegin()->first);
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if(fter != wter->second.end())
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{
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const FeatureBA & f1 = fter->second; // previous key-frame
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const FeatureBA & f2 = wter->second.find(lastFrame_->id())->second; // current key-frame
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float dx = f1.kpt.pt.x - f2.kpt.pt.x;
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float dy = f1.kpt.pt.y - f2.kpt.pt.y;
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bundleAvgInlierDistance += sqrt(dx*dx + dy*dy);
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++count;
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}
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}
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}
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if(count)
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{
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bundleAvgInlierDistance /= count;
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}
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UDEBUG("Average pixel distance between %d inliers: %f", count, bundleAvgInlierDistance);
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if(info)
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{
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info->localBundleAvgInlierDistance = bundleAvgInlierDistance;
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}
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}
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}
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UDEBUG("Local Bundle Adjustment After : %s", transform.prettyPrint().c_str());
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}
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else
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{
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regInfo.rejectedMsg = "Last bundle pose is null?!";
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transform.setNull();
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}
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UDEBUG("Local Bundle Adjustment After : %s", transform.prettyPrint().c_str());
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}
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else
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{
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UWARN("Local bundle adjustment failed! transform is not refined.");
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regInfo.rejectedMsg = "Local bundle adjustment failed!";
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transform.setNull();
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}
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}
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}
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@@ -598,15 +648,24 @@ Transform OdometryF2M::computeTransform(
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(keyFrameThr_ == 0.0f ||
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visKeyFrameThr_ == 0 ||
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float(regInfo.inliers) <= (keyFrameThr_*float(lastFrame_->getWords().size())) ||
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regInfo.inliers <= visKeyFrameThr_);
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regInfo.inliers <= visKeyFrameThr_) &&
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(bundleAdjustment_==0 || bundleAvgInlierDistance >= bundleMinMotion_);
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bool addGeometricKeyFrame = regPipeline_->isScanRequired() &&
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(scanKeyFrameThr_==0 || regInfo.icpInliersRatio <= scanKeyFrameThr_);
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addKeyFrame = false;//bundleLinks.rbegin()->second.transform().getNorm() > 5.0f*0.075f;
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addKeyFrame = addKeyFrame || addVisualKeyFrame || addGeometricKeyFrame;
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addKeyFrame = addVisualKeyFrame || addGeometricKeyFrame;
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UDEBUG("keyframeThr=%f visKeyFrameThr_=%d matches=%d inliers=%d (avg dist=%f, min=%f) features=%d mp=%d",
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keyFrameThr_,
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visKeyFrameThr_,
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regInfo.matches,
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regInfo.inliers,
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bundleAvgInlierDistance,
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bundleMinMotion_,
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(int)lastFrame_->sensorData().keypoints().size(),
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(int)mapPoints.size());
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UDEBUG("keyframeThr=%f visKeyFrameThr_=%d matches=%d inliers=%d features=%d mp=%d", keyFrameThr_, visKeyFrameThr_, regInfo.matches, regInfo.inliers, (int)lastFrame_->sensorData().keypoints().size(), (int)mapPoints.size());
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if(addKeyFrame)
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{
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//Visual
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@@ -733,7 +792,16 @@ Transform OdometryF2M::computeTransform(
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}
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else
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{
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bundleWordReferences_.find(iter->first)->second.insert(std::make_pair(lastFrame_->id(), FeatureBA(kpt, depth, cv::Mat(), cameraIndex)));
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std::map<int, rtabmap::FeatureBA> & keyframes = bundleWordReferences_.find(iter->first)->second;
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if(bundleMaxKeyFramesPerFeature_ != 0 && (int)keyframes.size() > bundleMaxKeyFramesPerFeature_)
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{
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// To keep number of keyframes looking at same feature bounded
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int frameId = keyframes.rbegin()->first;
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UASSERT(bundlePoseReferences_.find(frameId) != bundlePoseReferences_.end());
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bundlePoseReferences_.at(frameId) -= 1;
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keyframes.erase(frameId);
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}
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keyframes.insert(std::make_pair(lastFrame_->id(), FeatureBA(kpt, depth, cv::Mat(), cameraIndex)));
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}
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}
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}
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@@ -659,6 +659,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
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_ui->statsToolBox->updateStat("Odometry/localBundleOutliers/", false);
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_ui->statsToolBox->updateStat("Odometry/localBundleConstraints/", false);
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_ui->statsToolBox->updateStat("Odometry/localBundleTime/ms", false);
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_ui->statsToolBox->updateStat("Odometry/localBundleAvgInlierDistance/pix", false);
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_ui->statsToolBox->updateStat("Odometry/localBundleMaxKeyFramesForInlier/", false);
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_ui->statsToolBox->updateStat("Odometry/KeyFrameAdded/", false);
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_ui->statsToolBox->updateStat("Odometry/Interval/ms", false);
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_ui->statsToolBox->updateStat("Odometry/Speed/kph", false);
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@@ -1829,6 +1831,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
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_ui->statsToolBox->updateStat("Odometry/localBundleOutliers/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleOutliers, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/localBundleConstraints/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleConstraints, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/localBundleTime/ms", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleTime*1000.0f, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/localBundleAvgInlierDistance/pix", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleAvgInlierDistance, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/localBundleMaxKeyFramesForInlier/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().localBundleMaxKeyFramesForInlier, _preferencesDialog->isCacheSavedInFigures());
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}
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_ui->statsToolBox->updateStat("Odometry/KeyFrameAdded/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().keyFrameAdded?1.0f:0.0f, _preferencesDialog->isCacheSavedInFigures());
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_ui->statsToolBox->updateStat("Odometry/ID/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)data->id(), _preferencesDialog->isCacheSavedInFigures());
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@@ -1410,6 +1410,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->odom_f2m_validDepthRatio->setObjectName(Parameters::kOdomF2MValidDepthRatio().c_str());
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_ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str());
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_ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str());
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_ui->odom_f2m_bundleMinMotion->setObjectName(Parameters::kOdomF2MBundleAdjustmentMinMotion().c_str());
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_ui->odom_f2m_bundleMaxKeyFramesPerFeature->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature().c_str());
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//Odometry Frame To Frame
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_ui->comboBox_odomf2f_corType->setObjectName(Parameters::kVisCorType().c_str());
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+194
-142
@@ -15799,7 +15799,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<widget class="QStackedWidget" name="stackedWidget_odometryType">
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<property name="currentIndex">
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<number>1</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_52">
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<layout class="QVBoxLayout" name="verticalLayout_77">
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@@ -15824,32 +15824,32 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_29" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QSpinBox" name="spinBox_odom_f2m_maxNewFeatures">
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<property name="minimum">
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<number>0</number>
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<item row="6" column="1">
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<widget class="QLabel" name="label_524">
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<property name="text">
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<string>[Visual] If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.</string>
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</property>
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<property name="maximum">
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<number>999999</number>
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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="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>0</number>
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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="doubleSpinBox_odom_f2m_scanRadius">
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRange">
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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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<number>0</number>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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</property>
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<property name="value">
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<double>0.025000000000000</double>
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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@@ -15866,6 +15866,22 @@ 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="QSpinBox" name="odom_localHistory">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999999</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_195">
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<property name="text">
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@@ -15892,33 +15908,10 @@ 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="QSpinBox" name="odom_localHistory">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999999</number>
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</property>
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<property name="singleStep">
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<number>1</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="spinBox_odom_f2m_scanMaxSize">
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<property name="maximum">
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<number>999999999</number>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_194">
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<item row="10" column="1">
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<widget class="QLabel" name="label_761">
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<property name="text">
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<string>[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.</string>
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<string>[Visual] To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -15928,6 +15921,55 @@ 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="8" column="1">
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<widget class="QLabel" name="label_358">
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<property name="text">
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<string>[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).</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>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_598">
|
||||
<property name="text">
|
||||
<string>[Visual] Gravity sigma used for bundle adjustment (<0, use same value than Optimizer/GravitySigma parameter)</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="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanAngle">
|
||||
<property name="suffix">
|
||||
<string> deg</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_357">
|
||||
<property name="text">
|
||||
@@ -15941,23 +15983,77 @@ 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="QSpinBox" name="odom_f2m_bundleMaxFrames">
|
||||
<item row="1" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_odom_f2m_maxNewFeatures">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_358">
|
||||
<property name="text">
|
||||
<string>[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).</string>
|
||||
<item row="10" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_f2m_bundleMinMotion">
|
||||
<property name="suffix">
|
||||
<string> pixels</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_odom_f2m_scanMaxSize">
|
||||
<property name="maximum">
|
||||
<number>999999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_f2m_validDepthRatio">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.750000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRadius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.025000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -15988,6 +16084,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_194">
|
||||
<property name="text">
|
||||
<string>[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no 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="1">
|
||||
<widget class="QLabel" name="label_430">
|
||||
<property name="text">
|
||||
@@ -16001,96 +16110,6 @@ 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="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanAngle">
|
||||
<property name="suffix">
|
||||
<string> deg</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_524">
|
||||
<property name="text">
|
||||
<string>[Visual] If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_f2m_validDepthRatio">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.750000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_564">
|
||||
<property name="text">
|
||||
<string>[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.</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="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanRange">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_598">
|
||||
<property name="text">
|
||||
<string>[Visual] Gravity sigma used for bundle adjustment (<0, use same value than Optimizer/GravitySigma parameter)</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="QDoubleSpinBox" name="odom_f2m_gravitySigma">
|
||||
<property name="suffix">
|
||||
@@ -16113,6 +16132,39 @@ 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_564">
|
||||
<property name="text">
|
||||
<string>[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.</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="1">
|
||||
<widget class="QLabel" name="label_762">
|
||||
<property name="text">
|
||||
<string>[Visual] Maximum keyframes per feature for bundle adjustment. 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="11" column="0">
|
||||
<widget class="QSpinBox" name="odom_f2m_bundleMaxKeyFramesPerFeature">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user