mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Increased version to 0.20.7. OdometryF2M: added support for intensity field, removed ignored key frames when there is low scan complexity. RegistrationIcp: added Icp/PMMatcherIntensity, Icp/PointToPlaneGroundNormalsUp and Icp/PointToPlaneLowComplexityStrategy parameters. Rtabmap: when graph optimized from end, increased optimization error before warning that resulting map correction is not identity (this could happen with GTSAM as the root is not perfectly fixed). CloudViewer: added coordinate frame scaling option, added rainbow colormap option for scan intensity. DBViewer: fixed local proximity merged scans not shown modified after refining those links, show intensity, fixed constraints view not updated after rejecting a link. MainWindow: added intesity support with odometry scans.
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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@@ -4350,6 +4371,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -4363,6 +4387,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<property name="openExternalLinks">
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@@ -4380,6 +4407,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7287,7 +7317,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="7" column="1">
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<widget class="QLabel" name="label_453">
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<property name="text">
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<string>Force ground normals to be all upward. Useful to make sure Velodyne's scans on ground have all normals upward.</string>
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<string>Force ground normals to be all upward (e.g., 0.8). Useful to make sure Velodyne's scans on ground have all normals upward. 0 means disabled.</string>
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@@ -7297,13 +7327,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="7" column="0">
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<string/>
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@@ -7360,6 +7383,19 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_source_scanNormalsForceGroundUp">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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<double>0.010000000000000</double>
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@@ -19007,10 +19043,10 @@ Lower the ratio -> higher the precision.</string>
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<item row="14" column="1">
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<widget class="QLabel" name="label_429">
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<property name="text">
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<string>Minimum structural complexity (0.0=low, 1.0=high) of the scan to do point to plane registration, otherwise point to point registration is done instead.</string>
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<string>Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when PointToPlane is enabled.</string>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -19020,7 +19056,7 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="13" column="0">
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<item row="14" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsMinComplexity">
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<property name="decimals">
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<number>3</number>
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@@ -19100,6 +19136,64 @@ Lower the ratio -> higher the precision.</string>
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</property>
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</widget>
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</item>
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<item row="15" column="1">
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<widget class="QLabel" name="label_607">
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<property name="text">
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<string>Stuctural complexity strategy. If structural complexity is below the minimum complexity threshold: set to 0 to so that the transform is automatically rejected, set to 1 to limit ICP correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to accept "as is" the transform computed by PointToPoint.</string>
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<property name="wordWrap">
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<bool>true</bool>
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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="13" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneGroundNormalsUp">
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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>0.010000000000000</double>
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</property>
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</widget>
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</item>
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<item row="13" column="1">
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<widget class="QLabel" name="label_608">
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<property name="text">
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<string>Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.</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="15" column="0">
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<widget class="QComboBox" name="loopClosure_icpPointToPlaneLowComplexityStrategy">
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<item>
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<property name="text">
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<string>Reject</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Constrained PointToPoint</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>PointToPoint</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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</layout>
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</item>
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<item>
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@@ -19246,6 +19340,26 @@ Lower the ratio -> higher the precision.</string>
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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_609">
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<property name="text">
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<string>KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with knn>1.</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="0">
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<widget class="QCheckBox" name="loopClosure_icpPMMatcherIntensity">
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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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</layout>
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