mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
Parameters renamed: "OdomLocalMap" group is now "OdomF2M" for Frame to Map odometry. Visual registration feature matching: using guess transform to limit the radius of correspondences "Vis/CorGuessWinSize=16"
This commit is contained in:
matlabbe
@@ -675,6 +675,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->stackedWidget_loopClosureCorrespondences->setCurrentIndex(Parameters::defaultVisCorType());
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_ui->reextract_nn->setObjectName(Parameters::kVisCorNNType().c_str());
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_ui->reextract_nndrRatio->setObjectName(Parameters::kVisCorNNDR().c_str());
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_ui->spinBox_visCorGuessWinSize->setObjectName(Parameters::kVisCorGuessWinSize().c_str());
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_ui->reextract_type->setObjectName(Parameters::kVisFeatureType().c_str());
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_ui->reextract_maxFeatures->setObjectName(Parameters::kVisMaxFeatures().c_str());
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_ui->loopClosure_bowMaxDepth->setObjectName(Parameters::kVisMaxDepth().c_str());
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@@ -706,18 +707,18 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
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_ui->odom_dataBufferSize->setObjectName(Parameters::kOdomImageBufferSize().c_str());
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//Odometry BOW
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_ui->odom_localHistory->setObjectName(Parameters::kOdomLocalMapHistorySize().c_str());
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_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomLocalMapFixedMapPath().c_str());
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//Odometry Frame to Map
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_ui->odom_localHistory->setObjectName(Parameters::kOdomF2MMaxSize().c_str());
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_ui->odom_fixedLocalMapPath->setObjectName(Parameters::kOdomF2MFixedMapPath().c_str());
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connect(_ui->toolButton_odomBowFixedLocalMap, SIGNAL(clicked()), this, SLOT(changeOdomBowFixedLocalMapPath()));
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//Odometry Optical Flow
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//Odometry Frame to Frame
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_ui->odom_flow_keyframeThr->setObjectName(Parameters::kOdomF2FKeyFrameThr().c_str());
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_ui->odom_flow_winSize_2->setObjectName(Parameters::kVisCorFlowWinSize().c_str());
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_ui->odom_flow_maxLevel_2->setObjectName(Parameters::kVisCorFlowMaxLevel().c_str());
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_ui->odom_flow_iterations_2->setObjectName(Parameters::kVisCorFlowIterations().c_str());
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_ui->odom_flow_eps_2->setObjectName(Parameters::kVisCorFlowEps().c_str());
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_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomF2FGuessMotion().c_str());
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_ui->odom_flow_guessMotion->setObjectName(Parameters::kOdomGuessMotion().c_str());
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//Odometry Mono
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_ui->doubleSpinBox_minFlow->setObjectName(Parameters::kOdomMonoInitMinFlow().c_str());
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@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-1377</y>
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<y>0</y>
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<width>681</width>
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<height>2010</height>
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</rect>
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>3</number>
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<number>16</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -7218,7 +7218,7 @@ 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="6" column="0">
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<item row="7" column="0">
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<widget class="QSpinBox" name="odom_dataBufferSize">
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<property name="maximum">
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<number>999999</number>
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@@ -7245,7 +7245,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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<item>
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<property name="text">
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<string>Local Map</string>
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<string>Frame to Map</string>
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</property>
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</item>
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<item>
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@@ -7255,7 +7255,7 @@ 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>
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</item>
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<item row="7" column="0">
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<item row="8" column="0">
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<widget class="QPushButton" name="pushButton_testOdometry">
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<property name="text">
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<string>Test selected odometry</string>
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@@ -7275,7 +7275,7 @@ 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="6" column="1">
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<item row="7" column="1">
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<widget class="QLabel" name="label_232">
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<property name="text">
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<string>Data buffer size (0 means inf).</string>
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@@ -7330,6 +7330,26 @@ 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="6" column="1">
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<widget class="QLabel" name="label_198">
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<property name="text">
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<string>Guess based on previous motion.</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="6" column="0">
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<widget class="QCheckBox" name="odom_flow_guessMotion">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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@@ -7342,13 +7362,13 @@ 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="QGroupBox" name="groupBox_odometryBOW2">
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<property name="title">
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<string>Local Map</string>
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<string>Frame to Map</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_54">
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<item>
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<widget class="QLabel" name="label_226">
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<property name="text">
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<string>The approach maintains a local map of features to match to. It adds incrementally new points to local map up to local history size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters. Note that only visual registration parameters are used in this approach. If you want to use a different registration pipeline than Visual (e.g. with ICP), use "Frame to Frame" approach instead.</string>
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<string>The approach maintains a local map of features to match to. It adds incrementally new points to local map up to maximum map size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters. Note that only visual registration parameters are used in this approach. If you want to use a different registration pipeline than Visual (e.g. with ICP), use "Frame to Frame" approach instead.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7363,7 +7383,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="0" column="2">
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<widget class="QLabel" name="label_190">
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<property name="text">
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<string>Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
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<string>Maximum map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7484,26 +7504,6 @@ 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="1" column="1">
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<widget class="QLabel" name="label_198">
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<property name="text">
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<string>Guess optical flow based on previous motion.</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="1" column="0">
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<widget class="QCheckBox" name="odom_flow_guessMotion">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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@@ -8123,39 +8123,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<layout class="QVBoxLayout" name="verticalLayout_41" stretch="0,0,0,1">
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<item>
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<layout class="QGridLayout" name="gridLayout_23" columnstretch="0,1">
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<item row="5" column="0">
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<widget class="QCheckBox" name="loopClosure_bowVarianceFromInliersCount">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_149">
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<property name="text">
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<string>Correspondences computation approach.</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="2" column="0">
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<widget class="QSpinBox" name="loopClosure_bowMinInliers">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>10</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_146">
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<property name="text">
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@@ -8223,6 +8190,9 @@ 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 row="1" column="0">
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<widget class="QComboBox" name="loopClosure_estimationType">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
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</property>
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<item>
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<property name="text">
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<string>3D to 3D</string>
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@@ -8235,13 +8205,22 @@ 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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<property name="text">
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<string>2D to 2D (Epipolar Geometry)</string>
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<string>2D to 2D</string>
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</property>
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</item>
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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="QComboBox" name="loopClosure_correspondencesType">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContentsOnFirstShow</enum>
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</property>
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<item>
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<property name="text">
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<string>Features Matching</string>
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@@ -8274,12 +8253,45 @@ 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="5" column="0">
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<widget class="QCheckBox" name="loopClosure_bowVarianceFromInliersCount">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_149">
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<property name="text">
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<string>Correspondences computation approach.</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="2" column="0">
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<widget class="QSpinBox" name="loopClosure_bowMinInliers">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>10</number>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QStackedWidget" name="stackedWidget_loopClosureCorrespondences">
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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_54">
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<layout class="QVBoxLayout" name="verticalLayout_85">
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@@ -8374,7 +8386,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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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<item row="3" column="0">
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<spacer name="verticalSpacer_44">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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@@ -8387,6 +8399,35 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</spacer>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_303">
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<property name="text">
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<string>Matching window size around projected points when a guess transform is provided to find correspondences.</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="2" column="0">
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<widget class="QSpinBox" name="spinBox_visCorGuessWinSize">
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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="minimum">
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<number>3</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>16</number>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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Block a user