mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added parameter Mem/CovOffDiagIgnored (default true)
This commit is contained in:
matlabbe
@@ -733,6 +733,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->general_spinBox_laserScanNormalK->setObjectName(Parameters::kMemLaserScanNormalK().c_str());
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_ui->general_doubleSpinBox_laserScanNormalRadius->setObjectName(Parameters::kMemLaserScanNormalRadius().c_str());
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_ui->checkBox_useOdomFeatures->setObjectName(Parameters::kMemUseOdomFeatures().c_str());
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_ui->memCovOffDiagIgnored->setObjectName(Parameters::kMemCovOffDiagIgnored().c_str());
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// Database
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_ui->checkBox_dbInMemory->setObjectName(Parameters::kDbSqlite3InMemory().c_str());
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@@ -94,9 +94,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-253</y>
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<width>678</width>
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<height>2811</height>
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<y>0</y>
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<width>673</width>
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<height>2803</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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@@ -117,7 +117,7 @@
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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>20</number>
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<number>12</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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@@ -8812,19 +8812,6 @@ 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="11" column="1">
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<widget class="QLabel" name="label_space2">
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<property name="text">
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<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</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="1">
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<widget class="QLabel" name="label_scanMatching">
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<property name="text">
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@@ -8838,29 +8825,6 @@ 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="9" 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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</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="11" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_radius">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="value">
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<double>1.000000000000000</double>
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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_152">
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<property name="text">
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@@ -8874,32 +8838,6 @@ 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="6" 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="10" 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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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
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<property name="suffix">
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@@ -8913,7 +8851,7 @@ 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="9" column="0">
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<item row="10" column="0">
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<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
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</item>
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<item row="0" column="1">
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@@ -8929,19 +8867,6 @@ 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="5" 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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</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="QDoubleSpinBox" name="rgdb_angularUpdate">
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<property name="suffix">
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@@ -8984,7 +8909,7 @@ 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="10" column="1">
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<item row="11" 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>Ratio of working memory for which local nodes are immunized from transfer.</string>
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@@ -9023,6 +8948,108 @@ 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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<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
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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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<widget class="QLabel" name="label_scanMatching_2">
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<property name="text">
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<string>When loading a database, ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.</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="8" column="0">
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<widget class="QCheckBox" name="loopClosure_bunlde">
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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="12" column="1">
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<widget class="QLabel" name="label_space2">
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<property name="text">
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<string>Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels.</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="10" 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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</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="12" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_radius">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="value">
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<double>1.000000000000000</double>
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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="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="11" 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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<item row="5" 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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</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="3" column="1">
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<widget class="QLabel" name="label_433">
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<property name="text">
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@@ -9036,13 +9063,6 @@ 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="4" column="0">
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<widget class="QCheckBox" name="rgbd_savedLocalizationIgnored">
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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="3" column="0">
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<widget class="QDoubleSpinBox" name="rgdb_angularSpeedUpdate">
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<property name="suffix">
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@@ -9059,19 +9079,6 @@ 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="4" column="1">
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<widget class="QLabel" name="label_scanMatching_2">
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<property name="text">
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<string>When loading a database, ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.</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="8" column="1">
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<widget class="QLabel" name="label_scanMatching_10">
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<property name="text">
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@@ -9085,8 +9092,21 @@ 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="8" column="0">
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<widget class="QCheckBox" name="loopClosure_bunlde">
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<item row="9" column="1">
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<widget class="QLabel" name="label_scanMatching_11">
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<property name="text">
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<string>Ignore off diagonal values of the odometry covariance matrix.</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="9" column="0">
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<widget class="QCheckBox" name="memCovOffDiagIgnored">
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<property name="text">
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<string/>
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</property>
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