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Parameters: added Mem/StereoFromMotion (default false) and RGBD/ProximityOdomGuess (default false). Visual proximity detection is done before computing the loop closure transform (the later is ignored if visual proximity succeeded with a node close to loop closure, add Loop/Suppressed_hypothesis_id statistics to know when this happens). Changed Loop/Map_correction to Loop/Odom_correction (to better see the actual jumps of localization about /base_link frame, not /odom frame). util3d::generateWords3DMono() is now using openCV's implementation of five-point algorithm (this fixed some cases for which the older approach couldn't find any solution). UPlot: added scrolling area on the legend, added global legend option to show all curve statistics (mean, stddev,max). MainWindow's open dialog: reopen last directory when reopening a different database. ParametersToolBox: show default parameter value in tooltip. rtabmap-report: add --start option. rtabmap-reprocess: show details about proximity and loop detections, reset all localization statistics after changing database.

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This commit is contained in:
matlabbe
2020-05-19 15:01:50 -04:00
parent 55509c6c27
commit c7b84c60bc
31 changed files with 1889 additions and 1335 deletions
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145
guilib/src/ui/preferencesDialog.ui
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@@ -63,9 +63,9 @@
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@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
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<property name="currentIndex">
<number>21</number>
<number>19</number>
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@@ -4951,7 +4951,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -5231,21 +5231,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -5364,7 +5350,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -8631,7 +8617,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<property name="toolTip">
<string>0 means that the response (hessian) threshold
@@ -8650,7 +8636,7 @@ generate the number of words requested.</string>
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<string>0 means that the response (hessian) threshold
@@ -8669,7 +8655,7 @@ generate the number of words requested.</string>
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</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_99">
<property name="text">
<string>Top ROI ratio (0 = no change).</string>
@@ -8682,7 +8668,7 @@ generate the number of words requested.</string>
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<item row="6" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
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@@ -8784,14 +8770,14 @@ generate the number of words requested.</string>
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<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
@@ -8823,7 +8809,7 @@ generate the number of words requested.</string>
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@@ -8868,7 +8854,7 @@ generate the number of words requested.</string>
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@@ -8881,7 +8867,7 @@ generate the number of words requested.</string>
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@@ -8891,7 +8877,7 @@ generate the number of words requested.</string>
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<widget class="QLabel" name="label_97">
<property name="text">
<string>Left ROI ratio (0 = no change).</string>
@@ -8904,7 +8890,7 @@ generate the number of words requested.</string>
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@@ -8917,7 +8903,7 @@ generate the number of words requested.</string>
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@@ -8972,7 +8958,7 @@ generate the number of words requested.</string>
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<string>0 means that the response (hessian) threshold
@@ -8991,7 +8977,7 @@ generate the number of words requested.</string>
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@@ -9004,7 +8990,7 @@ generate the number of words requested.</string>
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@@ -9017,7 +9003,7 @@ generate the number of words requested.</string>
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@@ -9062,6 +9048,32 @@ generate the number of words requested.</string>
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used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
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<property name="text">
<string>Triangulate features without depth using stereo from motion (odometry). It would be ignored if depth as mask is checked and the feature detector used supports masking.</string>
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@@ -10497,7 +10509,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -10513,7 +10525,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</string>
@@ -10526,7 +10538,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore. A path should also be inside that radius to be considered for proximity detection.</string>
@@ -10539,7 +10551,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -10569,7 +10581,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<property name="text">
<string>Save scan matching IDs in link's user data.</string>
@@ -10582,7 +10594,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -10664,6 +10676,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>Use odometry as motion guess for visual proximity detection.</string>
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@@ -14901,7 +14933,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<width>20</width>
<height>1029</height>
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@@ -15124,7 +15156,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<size>
<width>20</width>
<height>40</height>
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@@ -15193,7 +15225,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<width>20</width>
<height>40</height>
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@@ -15387,7 +15419,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -16200,7 +16232,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -16236,7 +16268,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<width>20</width>
<height>40</height>
<height>0</height>
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@@ -21674,19 +21706,6 @@ Lower the ratio -&gt; higher the precision.</string>
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