mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added path immunization between the nearest local location and the current pose. New parameter: "RGBD/LocalImmunizationRatio"
This commit is contained in:
Mathieu Labbe
@@ -808,7 +808,7 @@ void DatabaseViewer::updateIds()
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{
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//get constraints only for parent links
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memory_->getMetricConstraints(std::vector<int>(ids.begin(), ids.end()), poses_, links_, true);
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memory_->getMetricConstraints(ids, poses_, links_, true);
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if(poses_.size())
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{
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@@ -484,7 +484,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
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_ui->graphPlan_planWithNearNodesLinked->setObjectName(Parameters::kRGBDPlanVirtualLinks().c_str());
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_ui->graphPlan_maxDiffID->setObjectName(Parameters::kRGBDPlanVirtualLinksMaxDiffID().c_str());
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_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());
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_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
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@@ -493,6 +492,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDLocalLoopDetectionMaxGraphDepth().c_str());
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_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDLocalLoopDetectionPathFilteringRadius().c_str());
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_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDLocalLoopDetectionPathOdomPosesUsed().c_str());
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_ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str());
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_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kLccBowMinInliers().c_str());
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_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kLccBowInlierDistance().c_str());
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@@ -742,7 +742,7 @@ void PreferencesDialog::setupSignals()
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if(obj)
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{
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// set tooltip as the parameter name
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obj->setToolTip(iter->first.c_str());
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obj->setToolTip(tr("%1 (Default=\"%2\")").arg(iter->first.c_str()).arg(iter->second.c_str()));
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QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
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QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);
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@@ -65,7 +65,7 @@
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<x>0</x>
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<y>0</y>
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<width>760</width>
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<height>1542</height>
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<height>1502</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -2993,6 +2993,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>Rehearsal / Weight Update</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
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<item row="2" column="0">
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<widget class="QCheckBox" name="general_checkBox_RehearsalIdUpdatedToNewOne">
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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_similarity">
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<property name="text">
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@@ -3023,8 +3030,18 @@ 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="2" column="0">
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<widget class="QCheckBox" name="general_checkBox_RehearsalIdUpdatedToNewOne">
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<item row="3" column="1">
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<widget class="QLabel" name="label_rehearsalIdUpdate_2">
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<property name="text">
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<string>Ignore Weight Update when the robot is 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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</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="QCheckBox" name="rgdb_rehearsalWeightIgnoredWhileMoving">
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<property name="text">
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<string/>
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</property>
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@@ -4972,7 +4989,7 @@ 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="3" column="0">
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
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<property name="suffix">
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<string> m</string>
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@@ -4991,7 +5008,7 @@ 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="3" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_163">
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<property name="text">
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<string>Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. </string>
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@@ -5001,14 +5018,14 @@ 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="4" column="0">
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<item row="3" column="0">
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<widget class="QCheckBox" name="odomScanHistory">
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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="4" column="1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_scanMatching">
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<property name="text">
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<string>Pose scan matching: odometry pose correction using laser scan matching. ICP 2D only is used here.</string>
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@@ -5018,7 +5035,7 @@ 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="5" column="1">
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<widget class="QLabel" name="label_scanMatching_3">
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<property name="text">
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<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
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@@ -5028,7 +5045,7 @@ 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="5" column="0">
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<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
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</item>
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<item row="7" column="0">
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@@ -5051,23 +5068,35 @@ 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="2" column="0">
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<widget class="QCheckBox" name="rgdb_rehearsalWeightIgnoredWhileMoving">
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<item row="6" column="1">
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<widget class="QLabel" name="label_scanMatching_5">
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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="2" column="1">
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<widget class="QLabel" name="label_165">
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<property name="text">
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<string>Ignore weight update when the robot is moving (over linear and angular update values above).</string>
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<string>Ratio of working memory for which local nodes are immunized from transfer.</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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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
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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>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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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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@@ -5382,7 +5411,7 @@ 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="3" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_space3_5">
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<property name="text">
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<string>When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#".</string>
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@@ -5392,33 +5421,13 @@ 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="3" column="0">
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<item row="2" column="0">
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<widget class="QCheckBox" name="graphPlan_goalsSavedInUserData">
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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="2" column="1">
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<widget class="QLabel" name="label_space3_6">
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<property name="text">
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<string>Maximum ID difference between close nodes to add virtual links. Set 0 to ignore.</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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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="graphPlan_maxDiffID">
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<property name="maximum">
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<number>999</number>
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</property>
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<property name="value">
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<number>50</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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</layout>
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