i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-08 11:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

iSAM2 integration (#1249)

Browse Source 
* isam2 integration

* fonctional iSAM2, added related parameters

* updated default params after testing large-scale enviroment

* proximity search optimization

* boost<1.68 fix

* boost version

* Fixed map not showing in graphview

* iSAM2: supporting MM/localization/multi-session modes
This commit is contained in:
matlabbe
2024-03-27 17:18:02 -07:00
committed by GitHub
parent bfeb487dba
commit cc17ebe92b
10 changed files with 450 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/ui/preferencesDialog.ui
+69
View File
@@ -23285,6 +23285,16 @@ Lower the ratio -&gt; higher the precision.</string>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_742">
<property name="text">
<string>iSAM2: Do graph optimization incrementally to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported in this mode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_364">
<property name="text">
@@ -23295,6 +23305,65 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="gtsam_incremental_threshold">
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_743">
<property name="text">
<string>Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="gtsam_incremental">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="gtsam_incremental_skip">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_744">
<property name="text">
<string>Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>