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New parameter: OdomF2M/ValidDepthRatio

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This commit is contained in:
matlabbe
2019-03-06 12:35:54 -05:00
parent d85c1c3bcf
commit cf4db63226
8 changed files with 292 additions and 124 deletions
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2
guilib/src/MainWindow.cpp
View File

@@ -1196,7 +1196,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
for(std::map<int, cv::Point3f>::const_iterator iter=odom.info().localMap.begin(); iter!=odom.info().localMap.end(); ++iter)
{
// filter very far features from current location
if(uNormSquared(iter->second.x-odom.pose().x(), iter->second.y-odom.pose().y(), iter->second.z-odom.pose().z()) < 50*50)
if(uNormSquared(iter->second.x-odom.pose().x(), iter->second.y-odom.pose().y(), iter->second.z-odom.pose().z()) < 100*100)
{
(*cloud)[i].x = iter->second.x;
(*cloud)[i].y = iter->second.y;

1
guilib/src/PreferencesDialog.cpp
View File

@@ -1050,6 +1050,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_odom_f2m_scanMaxSize->setObjectName(Parameters::kOdomF2MScanMaxSize().c_str());
_ui->doubleSpinBox_odom_f2m_scanRadius->setObjectName(Parameters::kOdomF2MScanSubtractRadius().c_str());
_ui->doubleSpinBox_odom_f2m_scanAngle->setObjectName(Parameters::kOdomF2MScanSubtractAngle().c_str());
_ui->odom_f2m_validDepthRatio->setObjectName(Parameters::kOdomF2MValidDepthRatio().c_str());
_ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str());
_ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str());

105
guilib/src/ui/preferencesDialog.ui
View File

@@ -94,16 +94,25 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>673</width>
<height>3038</height>
<y>-516</y>
<width>680</width>
<height>3082</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -117,7 +126,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>18</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -5164,7 +5173,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -11888,7 +11906,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QStackedWidget" name="stackedWidget_odometryType">
<property name="currentIndex">
<number>8</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -12017,7 +12035,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_357">
<property name="text">
<string>[Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel.</string>
@@ -12030,14 +12048,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" 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>
@@ -12050,7 +12068,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QComboBox" name="odom_f2m_bundleStrategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
@@ -12101,6 +12119,38 @@ 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_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="5" 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>
</layout>
</item>
<item>
@@ -15833,7 +15883,16 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -15913,7 +15972,16 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@@ -16025,7 +16093,16 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>