mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +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
@@ -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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@@ -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>
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<item row="9" column="1">
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<widget class="QLabel" name="label_598">
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<property name="text">
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<string>[Visual] Gravity sigma used for bundle adjustment (<0, use same value than Optimizer/GravitySigma parameter)</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanAngle">
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<property name="suffix">
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<string> deg</string>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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<property name="value">
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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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<item row="8" column="0">
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<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
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<property name="maximum">
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<number>999999</number>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_357">
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<property name="text">
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@@ -15941,23 +15983,77 @@ 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="0">
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<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
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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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</property>
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<property name="maximum">
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<number>999999</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="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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<item row="10" column="0">
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<widget class="QDoubleSpinBox" name="odom_f2m_bundleMinMotion">
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<property name="suffix">
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<string> pixels</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 name="decimals">
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<number>1</number>
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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 name="maximum">
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||||
<double>99.000000000000000</double>
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||||
</property>
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||||
<property name="singleStep">
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||||
<double>0.500000000000000</double>
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</property>
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||||
<property name="value">
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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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<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="6" column="0">
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<widget class="QDoubleSpinBox" name="odom_f2m_validDepthRatio">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
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||||
<double>1.000000000000000</double>
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</property>
|
||||
<property name="singleStep">
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<double>0.050000000000000</double>
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</property>
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||||
<property name="value">
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<double>0.750000000000000</double>
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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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<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>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.025000000000000</double>
|
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</property>
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</widget>
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</item>
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@@ -15988,6 +16084,19 @@ 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>
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</item>
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<item row="1" column="1">
|
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<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>
|
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</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
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<item row="4" column="1">
|
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<widget class="QLabel" name="label_430">
|
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<property name="text">
|
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@@ -16001,96 +16110,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
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</widget>
|
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</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