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Added path immunization between the nearest local location and the current pose. New parameter: "RGBD/LocalImmunizationRatio"

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Mathieu Labbe
2015-05-04 16:00:21 -04:00
parent 26305588da
commit cf5f998e06
9 changed files with 257 additions and 158 deletions
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4
guilib/src/PreferencesDialog.cpp
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@@ -484,7 +484,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_planWithNearNodesLinked->setObjectName(Parameters::kRGBDPlanVirtualLinks().c_str());
_ui->graphPlan_maxDiffID->setObjectName(Parameters::kRGBDPlanVirtualLinksMaxDiffID().c_str());
_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());
_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
@@ -493,6 +492,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDLocalLoopDetectionMaxGraphDepth().c_str());
_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDLocalLoopDetectionPathFilteringRadius().c_str());
_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDLocalLoopDetectionPathOdomPosesUsed().c_str());
_ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str());
_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kLccBowMinInliers().c_str());
_ui->loopClosure_bowInlierDistance->setObjectName(Parameters::kLccBowInlierDistance().c_str());
@@ -742,7 +742,7 @@ void PreferencesDialog::setupSignals()
if(obj)
{
// set tooltip as the parameter name
obj->setToolTip(iter->first.c_str());
obj->setToolTip(tr("%1 (Default=\"%2\")").arg(iter->first.c_str()).arg(iter->second.c_str()));
QSpinBox * spin = qobject_cast<QSpinBox *>(obj);
QDoubleSpinBox * doubleSpin = qobject_cast<QDoubleSpinBox *>(obj);