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Refactoring of some parameters (LocalLoopDetection* to Proximity*) and variables in code

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matlabbe
2015-11-25 12:15:41 -05:00
parent 56383d4cfb
commit da1129cf79
14 changed files with 290 additions and 308 deletions
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corelib/include/rtabmap/core/Memory.h
-1
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@@ -239,7 +239,6 @@ private:
bool _badSignaturesIgnored;
int _imageDecimation;
float _laserScanDownsampleStepSize;
bool _localSpaceLinksKeptInWM;
bool _reextractLoopClosureFeatures;
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;
corelib/include/rtabmap/core/Parameters.h
+8 -9
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@@ -200,7 +200,6 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
RTABMAP_PARAM(Mem, ImageDecimation, int, 1, "Image decimation (>=1) when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LocalSpaceLinksKeptInWM, bool, true, "If local space links are kept in WM.");
// KeypointMemory (Keypoint-based)
RTABMAP_PARAM_COND(Kp, NNStrategy, int, RTABMAP_NONFREE, 1, 3, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
@@ -300,17 +299,17 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs in link's user data.");
RTABMAP_PARAM(RGBD, IcpOdomRefining, bool, false, "If the newest added node's pose is refined using ICP with the previous node to correct odometry from pose to pose (laser scans required!).");
RTABMAP_PARAM(RGBD, IcpLoopClosureRefining, bool, false, "If the estimated loop closure transformation is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, "When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, LoopClosureLinkRefining, bool, false, "If the estimated loop closure transformation is refined using ICP (laser scans required!).");
RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, true, "Extract features even if there are some already in the nodes.");
// Local/Proximity loop closure detection
RTABMAP_PARAM(RGBD, LocalLoopDetectionTime, bool, false, "Detection over all locations in STM.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionSpace, bool, true, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathScansMerged, bool, true, "Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathFilteringRadius, float, 0.5, "Path filtering radius.");
RTABMAP_PARAM(RGBD, LocalLoopDetectionPathOdomPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses instead of the ones in the optimized local graph.");
RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory or STM) near in space.");
RTABMAP_PARAM(RGBD, ProximityPathScansMerged, bool, true, "Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP.");
RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5, "Path filtering radius.");
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
// Graph optimization
RTABMAP_PARAM(RGBD, OptimizeStrategy, int, 0, "Graph optimization strategy: 0=TORO and 1=g2o.");
corelib/include/rtabmap/core/Registration.h
+3 -3
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@@ -39,7 +39,7 @@ public:
virtual ~Registration() {}
virtual void parseParameters(const ParametersMap & parameters)
{
Parameters::parse(parameters, Parameters::kRegVarianceFromInliersCount(), _bowVarianceFromInliersCount);
Parameters::parse(parameters, Parameters::kRegVarianceFromInliersCount(), _varianceFromInliersCount);
}
virtual Transform computeTransformation(
const Signature & from,
@@ -51,13 +51,13 @@ public:
float * inliersRatioOut = 0) = 0;
protected:
Registration(const ParametersMap & parameters = ParametersMap()) :
_bowVarianceFromInliersCount(Parameters::defaultRegVarianceFromInliersCount())
_varianceFromInliersCount(Parameters::defaultRegVarianceFromInliersCount())
{
this->parseParameters(parameters);
}
protected:
bool _bowVarianceFromInliersCount;
bool _varianceFromInliersCount;
};
corelib/include/rtabmap/core/RegistrationIcp.h
+9 -9
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@@ -61,16 +61,16 @@ public:
float * inliersRatioOut = 0);
private:
float _icpMaxTranslation;
float _icpMaxRotation;
float _maxTranslation;
float _maxRotation;
bool _icp2D;
float _icpVoxelSize;
int _icpDownsamplingStep;
float _icpMaxCorrespondenceDistance;
int _icpMaxIterations;
float _icpCorrespondenceRatio;
bool _icpPointToPlane;
int _icpPointToPlaneNormalNeighbors;
float _voxelSize;
int _downsamplingStep;
float _maxCorrespondenceDistance;
int _maxIterations;
float _correspondenceRatio;
bool _pointToPlane;
int _pointToPlaneNormalNeighbors;
};
}
corelib/include/rtabmap/core/RegistrationVis.h
+20 -20
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@@ -51,29 +51,29 @@ public:
float * varianceOut = 0,
float * inliersRatioOut = 0);
float getBowInlierDistance() const {return _bowInlierDistance;}
int getBowIterations() const {return _bowIterations;}
int getBowMinInliers() const {return _bowMinInliers;}
bool getBowForce2D() const {return _bowForce2D;}
float getBowInlierDistance() const {return _inlierDistance;}
int getBowIterations() const {return _iterations;}
int getBowMinInliers() const {return _minInliers;}
bool getBowForce2D() const {return _force2D;}
private:
int _bowMinInliers;
float _bowInlierDistance;
int _bowIterations;
int _bowRefineIterations;
bool _bowForce2D;
float _bowEpipolarGeometryVar;
int _bowEstimationType;
double _bowPnPReprojError;
int _bowPnPFlags;
int _minInliers;
float _inlierDistance;
int _iterations;
int _refineIterations;
bool _force2D;
float _epipolarGeometryVar;
int _estimationType;
double _PnPReprojError;
int _PnPFlags;
int _reextractNNType;
float _reextractNNDR;
int _reextractFeatureType;
int _reextractMaxWords;
float _reextractMaxDepth;
float _reextractMinDepth;
std::string _reextractRoiRatios;
int _NNType;
float _NNDR;
int _featureType;
int _maxWords;
float _maxDepth;
float _minDepth;
std::string _roiRatios;
int _subPixWinSize;
int _subPixIterations;
corelib/include/rtabmap/core/Rtabmap.h
+8 -8
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@@ -189,17 +189,17 @@ private:
float _rgbdLinearUpdate;
float _rgbdAngularUpdate;
float _newMapOdomChangeDistance;
bool _loopClosureIcpRefining;
bool _odomIcpRefining;
bool _localLoopClosureDetectionTime;
bool _localLoopClosureDetectionSpace;
bool _loopClosureRefining;
bool _neighborLinkRefining;
bool _proximityByTime;
bool _proximityBySpace;
bool _scanMatchingIdsSavedInLinks;
float _localRadius;
float _localImmunizationRatio;
int _localDetectMaxGraphDepth;
float _localPathFilteringRadius;
bool _localPathOdomPosesUsed;
bool _localPathScansMerged;
int _proximityMaxGraphDepth;
float _proximityFilteringRadius;
bool _proximityRawPosesUsed;
bool _proximityScansMerged;
std::string _databasePath;
bool _optimizeFromGraphEnd;
float _optimizationMaxLinearError;
corelib/src/Memory.cpp
-23
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@@ -82,7 +82,6 @@ Memory::Memory(const ParametersMap & parameters) :
_badSignaturesIgnored(Parameters::defaultMemBadSignaturesIgnored()),
_imageDecimation(Parameters::defaultMemImageDecimation()),
_laserScanDownsampleStepSize(Parameters::defaultMemLaserScanDownsampleStepSize()),
_localSpaceLinksKeptInWM(Parameters::defaultMemLocalSpaceLinksKeptInWM()),
_reextractLoopClosureFeatures(Parameters::defaultRGBDLoopClosureReextractFeatures()),
_rehearsalMaxDistance(Parameters::defaultRGBDLinearUpdate()),
_rehearsalMaxAngle(Parameters::defaultRGBDAngularUpdate()),
@@ -399,7 +398,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kMemSTMSize(), _maxStMemSize);
Parameters::parse(parameters, Parameters::kMemImageDecimation(), _imageDecimation);
Parameters::parse(parameters, Parameters::kMemLaserScanDownsampleStepSize(), _laserScanDownsampleStepSize);
Parameters::parse(parameters, Parameters::kMemLocalSpaceLinksKeptInWM(), _localSpaceLinksKeptInWM);
Parameters::parse(parameters, Parameters::kRGBDLoopClosureReextractFeatures(), _reextractLoopClosureFeatures);
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rehearsalMaxDistance);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rehearsalMaxAngle);
@@ -748,27 +746,6 @@ void Memory::moveSignatureToWMFromSTM(int id, int * reducedTo)
UASSERT(_stMem.find(id) != _stMem.end());
Signature * s = this->_getSignature(id);
UASSERT(s!=0);
if(!_localSpaceLinksKeptInWM)
{
// remove local space links outside STM
std::map<int, Link> links = s->getLinks(); // get a copy because we will remove some links in "s"
for(std::map<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
{
if(iter->second.type() == Link::kLocalSpaceClosure)
{
Signature * sTo = this->_getSignature(iter->first);
if(sTo)
{
sTo->removeLink(s->id());
}
else
{
UERROR("Link %d of %d not in WM/STM?!?", iter->first, s->id());
}
s->removeLink(iter->first);
}
}
}
if(_reduceGraph)
{
corelib/src/Parameters.cpp
+32 -4
View File
@@ -76,9 +76,12 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
if(removedParameters_.empty())
{
// removed parameters
removedParameters_.insert(std::make_pair("Mem/LaserScanVoxelSize", std::make_pair(false, Parameters::kMemLaserScanDownsampleStepSize())));
removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDIcpOdomRefining())));
// 0.11.0
removedParameters_.insert(std::make_pair("Mem/LaserScanVoxelSize", std::make_pair(false, Parameters::kMemLaserScanDownsampleStepSize())));
removedParameters_.insert(std::make_pair("Mem/LocalSpaceLinksKeptInWM", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("RGBD/PoseScanMatching", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
removedParameters_.insert(std::make_pair("Odom/FeatureType", std::make_pair(true, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("Odom/EstimationType", std::make_pair(true, Parameters::kVisEstimationType())));
@@ -101,7 +104,7 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("OdomSubPix/Iterations", std::make_pair(true, Parameters::kVisSubPixIterations())));
removedParameters_.insert(std::make_pair("OdomSubPix/Eps", std::make_pair(true, Parameters::kVisSubPixEps())));
removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(false, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/Activated", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/FeatureType", std::make_pair(false, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("LccReextract/MaxWords", std::make_pair(false, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("LccReextract/MaxDepth", std::make_pair(false, Parameters::kVisMaxDepth())));
@@ -120,7 +123,7 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("LccBow/PnPFlags", std::make_pair(false, Parameters::kVisPnPFlags())));
removedParameters_.insert(std::make_pair("LccBow/EpipolarGeometryVar", std::make_pair(true, Parameters::kVisEpipolarGeometryVar())));
removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(true, Parameters::kRGBDIcpLoopClosureRefining())));
removedParameters_.insert(std::make_pair("LccIcp/Type", std::make_pair(true, Parameters::kRGBDLoopClosureLinkRefining())));
removedParameters_.insert(std::make_pair("LccIcp3/Decimation", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("LccIcp3/MaxDepth", std::make_pair(false, "")));
@@ -136,6 +139,31 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
removedParameters_.insert(std::make_pair("LccIcp2/Iterations", std::make_pair(true, Parameters::kIcpIterations())));
removedParameters_.insert(std::make_pair("LccIcp2/CorrespondenceRatio", std::make_pair(true, Parameters::kIcpCorrespondenceRatio())));
removedParameters_.insert(std::make_pair("LccIcp2/VoxelSize", std::make_pair(true, Parameters::kIcpVoxelSize())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionByTime", std::make_pair(true, Parameters::kRGBDProximityByTime())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionBySpace", std::make_pair(true, Parameters::kRGBDProximityBySpace())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathScansMerged", std::make_pair(true, Parameters::kRGBDProximityPathScansMerged())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxGraphDepth", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathFilteringRadius", std::make_pair(true, Parameters::kRGBDProximityPathFilteringRadius())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionPathRawPosesUsed", std::make_pair(true, Parameters::kRGBDProximityPathRawPosesUsed())));
// before 0.11.0
removedParameters_.insert(std::make_pair("GFTT/MaxCorners", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("LccBow/MaxDepth", std::make_pair(true, Parameters::kVisMaxDepth())));
removedParameters_.insert(std::make_pair("LccReextract/LoopClosureFeatures", std::make_pair(true, Parameters::kRGBDLoopClosureReextractFeatures())));
removedParameters_.insert(std::make_pair("Rtabmap/DetectorStrategy", std::make_pair(true, Parameters::kKpDetectorStrategy())));
removedParameters_.insert(std::make_pair("RGBD/ScanMatchingSize", std::make_pair(true, Parameters::kRGBDNeighborLinkRefining())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionRadius", std::make_pair(true, Parameters::kRGBDLocalRadius())));
removedParameters_.insert(std::make_pair("RGBD/ToroIterations", std::make_pair(true, Parameters::kRGBDOptimizeIterations())));
removedParameters_.insert(std::make_pair("Mem/RehearsedNodesKept", std::make_pair(true, Parameters::kMemNotLinkedNodesKept())));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(true, Parameters::kRGBDProximityMaxGraphDepth())));
removedParameters_.insert(std::make_pair("RGBD/PlanVirtualLinksMaxDiffID", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("RGBD/LocalLoopDetectionMaxDiffID", std::make_pair(false, "")));
removedParameters_.insert(std::make_pair("Odom/Type", std::make_pair(true, Parameters::kVisFeatureType())));
removedParameters_.insert(std::make_pair("Odom/MaxWords", std::make_pair(true, Parameters::kVisMaxFeatures())));
removedParameters_.insert(std::make_pair("Odom/LocalHistory", std::make_pair(true, Parameters::kOdomBowLocalHistorySize())));
removedParameters_.insert(std::make_pair("Odom/NearestNeighbor", std::make_pair(true, Parameters::kVisNNType())));
removedParameters_.insert(std::make_pair("Odom/NNDR", std::make_pair(true, Parameters::kVisNNDR())));
}
return removedParameters_;
}
corelib/src/RegistrationIcp.cpp
+65 -65
View File
@@ -40,16 +40,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
RegistrationIcp::RegistrationIcp(const ParametersMap & parameters) :
_icpMaxTranslation(Parameters::defaultIcpMaxTranslation()),
_icpMaxRotation(Parameters::defaultIcpMaxRotation()),
_maxTranslation(Parameters::defaultIcpMaxTranslation()),
_maxRotation(Parameters::defaultIcpMaxRotation()),
_icp2D(Parameters::defaultIcp2D()),
_icpVoxelSize(Parameters::defaultIcpVoxelSize()),
_icpDownsamplingStep(Parameters::defaultIcpDownsamplingStep()),
_icpMaxCorrespondenceDistance(Parameters::defaultIcpMaxCorrespondenceDistance()),
_icpMaxIterations(Parameters::defaultIcpIterations()),
_icpCorrespondenceRatio(Parameters::defaultIcpCorrespondenceRatio()),
_icpPointToPlane(Parameters::defaultIcpPointToPlane()),
_icpPointToPlaneNormalNeighbors(Parameters::defaultIcpPointToPlaneNormalNeighbors())
_voxelSize(Parameters::defaultIcpVoxelSize()),
_downsamplingStep(Parameters::defaultIcpDownsamplingStep()),
_maxCorrespondenceDistance(Parameters::defaultIcpMaxCorrespondenceDistance()),
_maxIterations(Parameters::defaultIcpIterations()),
_correspondenceRatio(Parameters::defaultIcpCorrespondenceRatio()),
_pointToPlane(Parameters::defaultIcpPointToPlane()),
_pointToPlaneNormalNeighbors(Parameters::defaultIcpPointToPlaneNormalNeighbors())
{
this->parseParameters(parameters);
}
@@ -58,23 +58,23 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
{
Registration::parseParameters(parameters);
Parameters::parse(parameters, Parameters::kIcpMaxTranslation(), _icpMaxTranslation);
Parameters::parse(parameters, Parameters::kIcpMaxRotation(), _icpMaxRotation);
Parameters::parse(parameters, Parameters::kIcpMaxTranslation(), _maxTranslation);
Parameters::parse(parameters, Parameters::kIcpMaxRotation(), _maxRotation);
Parameters::parse(parameters, Parameters::kIcp2D(), _icp2D);
Parameters::parse(parameters, Parameters::kIcpVoxelSize(), _icpVoxelSize);
Parameters::parse(parameters, Parameters::kIcpDownsamplingStep(), _icpDownsamplingStep);
Parameters::parse(parameters, Parameters::kIcpMaxCorrespondenceDistance(), _icpMaxCorrespondenceDistance);
Parameters::parse(parameters, Parameters::kIcpIterations(), _icpMaxIterations);
Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), _icpCorrespondenceRatio);
Parameters::parse(parameters, Parameters::kIcpPointToPlane(), _icpPointToPlane);
Parameters::parse(parameters, Parameters::kIcpPointToPlaneNormalNeighbors(), _icpPointToPlaneNormalNeighbors);
Parameters::parse(parameters, Parameters::kIcpVoxelSize(), _voxelSize);
Parameters::parse(parameters, Parameters::kIcpDownsamplingStep(), _downsamplingStep);
Parameters::parse(parameters, Parameters::kIcpMaxCorrespondenceDistance(), _maxCorrespondenceDistance);
Parameters::parse(parameters, Parameters::kIcpIterations(), _maxIterations);
Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), _correspondenceRatio);
Parameters::parse(parameters, Parameters::kIcpPointToPlane(), _pointToPlane);
Parameters::parse(parameters, Parameters::kIcpPointToPlaneNormalNeighbors(), _pointToPlaneNormalNeighbors);
UASSERT_MSG(_icpVoxelSize >= 0, uFormat("value=%d", _icpVoxelSize).c_str());
UASSERT_MSG(_icpDownsamplingStep >= 0, uFormat("value=%d", _icpDownsamplingStep).c_str());
UASSERT_MSG(_icpMaxCorrespondenceDistance > 0.0f, uFormat("value=%f", _icpMaxCorrespondenceDistance).c_str());
UASSERT_MSG(_icpMaxIterations > 0, uFormat("value=%d", _icpMaxIterations).c_str());
UASSERT_MSG(_icpCorrespondenceRatio >=0.0f && _icpCorrespondenceRatio <=1.0f, uFormat("value=%f", _icpCorrespondenceRatio).c_str());
UASSERT_MSG(_icpPointToPlaneNormalNeighbors > 0, uFormat("value=%d", _icpPointToPlaneNormalNeighbors).c_str());
UASSERT_MSG(_voxelSize >= 0, uFormat("value=%d", _voxelSize).c_str());
UASSERT_MSG(_downsamplingStep >= 0, uFormat("value=%d", _downsamplingStep).c_str());
UASSERT_MSG(_maxCorrespondenceDistance > 0.0f, uFormat("value=%f", _maxCorrespondenceDistance).c_str());
UASSERT_MSG(_maxIterations > 0, uFormat("value=%d", _maxIterations).c_str());
UASSERT_MSG(_correspondenceRatio >=0.0f && _correspondenceRatio <=1.0f, uFormat("value=%f", _correspondenceRatio).c_str());
UASSERT_MSG(_pointToPlaneNormalNeighbors > 0, uFormat("value=%d", _pointToPlaneNormalNeighbors).c_str());
}
Transform RegistrationIcp::computeTransformation(
@@ -106,17 +106,17 @@ Transform RegistrationIcp::computeTransformation(
float * inliersRatioOut)
{
UDEBUG("Guess transform = %s", guess.prettyPrint().c_str());
UDEBUG("Voxel size=%f", _icpVoxelSize);
UDEBUG("Voxel size=%f", _voxelSize);
UDEBUG("2D=%d", _icp2D?1:0);
UDEBUG("PointToPlane=%d", _icpPointToPlane?1:0);
UDEBUG("Normal neighborhood=%d", _icpPointToPlaneNormalNeighbors);
UDEBUG("Max corrrespondence distance=%f", _icpMaxCorrespondenceDistance);
UDEBUG("Max Iterations=%d", _icpMaxIterations);
UDEBUG("Variance from inliers count=%d", _bowVarianceFromInliersCount?1:0);
UDEBUG("Correspondence Ratio=%f", _icpCorrespondenceRatio);
UDEBUG("Max translation=%f", _icpMaxTranslation);
UDEBUG("Max rotation=%f", _icpMaxRotation);
UDEBUG("Downsampling step=%d", _icpDownsamplingStep);
UDEBUG("PointToPlane=%d", _pointToPlane?1:0);
UDEBUG("Normal neighborhood=%d", _pointToPlaneNormalNeighbors);
UDEBUG("Max corrrespondence distance=%f", _maxCorrespondenceDistance);
UDEBUG("Max Iterations=%d", _maxIterations);
UDEBUG("Variance from inliers count=%d", _varianceFromInliersCount?1:0);
UDEBUG("Correspondence Ratio=%f", _correspondenceRatio);
UDEBUG("Max translation=%f", _maxTranslation);
UDEBUG("Max rotation=%f", _maxRotation);
UDEBUG("Downsampling step=%d", _downsamplingStep);
std::string msg;
Transform transform;
@@ -127,11 +127,11 @@ Transform RegistrationIcp::computeTransformation(
int maxLaserScans = dataTo.laserScanMaxPts();
cv::Mat fromScan = dataFrom.laserScanRaw();
cv::Mat toScan = dataTo.laserScanRaw();
if(_icpDownsamplingStep>1)
if(_downsamplingStep>1)
{
fromScan = util3d::downsample(fromScan, _icpDownsamplingStep);
toScan = util3d::downsample(toScan, _icpDownsamplingStep);
maxLaserScans/=_icpDownsamplingStep;
fromScan = util3d::downsample(fromScan, _downsamplingStep);
toScan = util3d::downsample(toScan, _downsamplingStep);
maxLaserScans/=_downsamplingStep;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr fromCloud = util3d::laserScanToPointCloud(fromScan, Transform());
@@ -143,10 +143,10 @@ Transform RegistrationIcp::computeTransformation(
pcl::PointCloud<pcl::PointXYZ>::Ptr fromCloudFiltered = fromCloud;
pcl::PointCloud<pcl::PointXYZ>::Ptr toCloudFiltered = toCloud;
bool filtered = false;
if(_icpVoxelSize > 0.0f)
if(_voxelSize > 0.0f)
{
fromCloudFiltered = util3d::voxelize(fromCloudFiltered, _icpVoxelSize);
toCloudFiltered = util3d::voxelize(toCloudFiltered, _icpVoxelSize);
fromCloudFiltered = util3d::voxelize(fromCloudFiltered, _voxelSize);
toCloudFiltered = util3d::voxelize(toCloudFiltered, _voxelSize);
filtered = true;
}
@@ -159,10 +159,10 @@ Transform RegistrationIcp::computeTransformation(
pcl::PointCloud<pcl::PointXYZ>::Ptr newCloudRegistered(new pcl::PointCloud<pcl::PointXYZ>());
if(!_icp2D) // 3D ICP
{
if(_icpPointToPlane)
if(_pointToPlane)
{
pcl::PointCloud<pcl::PointNormal>::Ptr fromCloudNormals = util3d::computeNormals(fromCloudFiltered, _icpPointToPlaneNormalNeighbors);
pcl::PointCloud<pcl::PointNormal>::Ptr toCloudNormals = util3d::computeNormals(toCloudFiltered, _icpPointToPlaneNormalNeighbors);
pcl::PointCloud<pcl::PointNormal>::Ptr fromCloudNormals = util3d::computeNormals(fromCloudFiltered, _pointToPlaneNormalNeighbors);
pcl::PointCloud<pcl::PointNormal>::Ptr toCloudNormals = util3d::computeNormals(toCloudFiltered, _pointToPlaneNormalNeighbors);
std::vector<int> indices;
toCloudNormals = util3d::removeNaNNormalsFromPointCloud(toCloudNormals);
@@ -174,8 +174,8 @@ Transform RegistrationIcp::computeTransformation(
icpT = util3d::icpPointToPlane(
toCloudNormals,
fromCloudNormals,
_icpMaxCorrespondenceDistance,
_icpMaxIterations,
_maxCorrespondenceDistance,
_maxIterations,
hasConverged,
*newCloudNormalsRegistered);
if(!filtered &&
@@ -185,7 +185,7 @@ Transform RegistrationIcp::computeTransformation(
util3d::computeVarianceAndCorrespondences(
newCloudNormalsRegistered,
fromCloudNormals,
_icpMaxCorrespondenceDistance,
_maxCorrespondenceDistance,
variance,
correspondences);
correspondencesComputed = true;
@@ -197,8 +197,8 @@ Transform RegistrationIcp::computeTransformation(
icpT = util3d::icp(
toCloudFiltered,
fromCloudFiltered,
_icpMaxCorrespondenceDistance,
_icpMaxIterations,
_maxCorrespondenceDistance,
_maxIterations,
hasConverged,
*newCloudRegistered);
}
@@ -208,8 +208,8 @@ Transform RegistrationIcp::computeTransformation(
icpT = util3d::icp2D(
toCloudFiltered,
fromCloudFiltered,
_icpMaxCorrespondenceDistance,
_icpMaxIterations,
_maxCorrespondenceDistance,
_maxIterations,
hasConverged,
*newCloudRegistered);
}
@@ -229,21 +229,21 @@ Transform RegistrationIcp::computeTransformation(
{
float ix,iy,iz, iroll,ipitch,iyaw;
icpT.getTranslationAndEulerAngles(ix,iy,iz,iroll,ipitch,iyaw);
if((_icpMaxTranslation>0.0f &&
(fabs(ix) > _icpMaxTranslation ||
fabs(iy) > _icpMaxTranslation ||
fabs(iz) > _icpMaxTranslation))
if((_maxTranslation>0.0f &&
(fabs(ix) > _maxTranslation ||
fabs(iy) > _maxTranslation ||
fabs(iz) > _maxTranslation))
||
(_icpMaxRotation>0.0f &&
(fabs(iroll) > _icpMaxRotation ||
fabs(ipitch) > _icpMaxRotation ||
fabs(iyaw) > _icpMaxRotation)))
(_maxRotation>0.0f &&
(fabs(iroll) > _maxRotation ||
fabs(ipitch) > _maxRotation ||
fabs(iyaw) > _maxRotation)))
{
msg = uFormat("Cannot compute transform (ICP correction too large -> %f m %f rad, limits=%f m, %f rad)",
uMax3(fabs(ix), fabs(iy), fabs(iz)),
uMax3(fabs(iroll), fabs(ipitch), fabs(iyaw)),
_icpMaxTranslation,
_icpMaxRotation);
_maxTranslation,
_maxRotation);
UINFO(msg.c_str());
}
else
@@ -262,7 +262,7 @@ Transform RegistrationIcp::computeTransformation(
util3d::computeVarianceAndCorrespondences(
toCloud,
fromCloud,
_icpMaxCorrespondenceDistance,
_maxCorrespondenceDistance,
variance,
correspondences);
}
@@ -287,7 +287,7 @@ Transform RegistrationIcp::computeTransformation(
maxLaserScans>0?maxLaserScans:dataTo.laserScanMaxPts()?dataTo.laserScanMaxPts():(int)(toCloud->size()>fromCloud->size()?toCloud->size():fromCloud->size()),
correspondencesRatio*100.0f);
if(_bowVarianceFromInliersCount)
if(_varianceFromInliersCount)
{
variance = correspondencesRatio > 0?1.0/double(correspondencesRatio):1.0;
}
@@ -305,10 +305,10 @@ Transform RegistrationIcp::computeTransformation(
*inliersRatioOut = correspondencesRatio;
}
if(correspondencesRatio < _icpCorrespondenceRatio)
if(correspondencesRatio < _correspondenceRatio)
{
msg = uFormat("Cannot compute transform (cor=%d corrRatio=%f/%f)",
correspondences, correspondencesRatio, _icpCorrespondenceRatio);
correspondences, correspondencesRatio, _correspondenceRatio);
UINFO(msg.c_str());
}
else
corelib/src/RegistrationVis.cpp
+69 -69
View File
@@ -39,22 +39,22 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
RegistrationVis::RegistrationVis(const ParametersMap & parameters) :
_bowMinInliers(Parameters::defaultVisMinInliers()),
_bowInlierDistance(Parameters::defaultVisInlierDistance()),
_bowIterations(Parameters::defaultVisIterations()),
_bowRefineIterations(Parameters::defaultVisRefineIterations()),
_bowForce2D(Parameters::defaultVisForce2D()),
_bowEpipolarGeometryVar(Parameters::defaultVisEpipolarGeometryVar()),
_bowEstimationType(Parameters::defaultVisEstimationType()),
_bowPnPReprojError(Parameters::defaultVisPnPReprojError()),
_bowPnPFlags(Parameters::defaultVisPnPFlags()),
_reextractNNType(Parameters::defaultVisNNType()),
_reextractNNDR(Parameters::defaultVisNNDR()),
_reextractFeatureType(Parameters::defaultVisFeatureType()),
_reextractMaxWords(Parameters::defaultVisMaxFeatures()),
_reextractMaxDepth(Parameters::defaultVisMaxDepth()),
_reextractMinDepth(Parameters::defaultVisMinDepth()),
_reextractRoiRatios(Parameters::defaultVisRoiRatios()),
_minInliers(Parameters::defaultVisMinInliers()),
_inlierDistance(Parameters::defaultVisInlierDistance()),
_iterations(Parameters::defaultVisIterations()),
_refineIterations(Parameters::defaultVisRefineIterations()),
_force2D(Parameters::defaultVisForce2D()),
_epipolarGeometryVar(Parameters::defaultVisEpipolarGeometryVar()),
_estimationType(Parameters::defaultVisEstimationType()),
_PnPReprojError(Parameters::defaultVisPnPReprojError()),
_PnPFlags(Parameters::defaultVisPnPFlags()),
_NNType(Parameters::defaultVisNNType()),
_NNDR(Parameters::defaultVisNNDR()),
_featureType(Parameters::defaultVisFeatureType()),
_maxWords(Parameters::defaultVisMaxFeatures()),
_maxDepth(Parameters::defaultVisMaxDepth()),
_minDepth(Parameters::defaultVisMinDepth()),
_roiRatios(Parameters::defaultVisRoiRatios()),
_subPixWinSize(Parameters::defaultKpSubPixWinSize()),
_subPixIterations(Parameters::defaultKpSubPixIterations()),
_subPixEps(Parameters::defaultKpSubPixEps())
@@ -66,29 +66,29 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
{
Registration::parseParameters(parameters);
Parameters::parse(parameters, Parameters::kVisMinInliers(), _bowMinInliers);
Parameters::parse(parameters, Parameters::kVisInlierDistance(), _bowInlierDistance);
Parameters::parse(parameters, Parameters::kVisIterations(), _bowIterations);
Parameters::parse(parameters, Parameters::kVisRefineIterations(), _bowRefineIterations);
Parameters::parse(parameters, Parameters::kVisForce2D(), _bowForce2D);
Parameters::parse(parameters, Parameters::kVisEstimationType(), _bowEstimationType);
Parameters::parse(parameters, Parameters::kVisEpipolarGeometryVar(), _bowEpipolarGeometryVar);
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), _bowPnPReprojError);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), _bowPnPFlags);
Parameters::parse(parameters, Parameters::kVisMinInliers(), _minInliers);
Parameters::parse(parameters, Parameters::kVisInlierDistance(), _inlierDistance);
Parameters::parse(parameters, Parameters::kVisIterations(), _iterations);
Parameters::parse(parameters, Parameters::kVisRefineIterations(), _refineIterations);
Parameters::parse(parameters, Parameters::kVisForce2D(), _force2D);
Parameters::parse(parameters, Parameters::kVisEstimationType(), _estimationType);
Parameters::parse(parameters, Parameters::kVisEpipolarGeometryVar(), _epipolarGeometryVar);
Parameters::parse(parameters, Parameters::kVisPnPReprojError(), _PnPReprojError);
Parameters::parse(parameters, Parameters::kVisPnPFlags(), _PnPFlags);
Parameters::parse(parameters, Parameters::kVisNNType(), _reextractNNType);
Parameters::parse(parameters, Parameters::kVisNNDR(), _reextractNNDR);
Parameters::parse(parameters, Parameters::kVisFeatureType(), _reextractFeatureType);
Parameters::parse(parameters, Parameters::kVisMaxFeatures(), _reextractMaxWords);
Parameters::parse(parameters, Parameters::kVisMaxDepth(), _reextractMaxDepth);
Parameters::parse(parameters, Parameters::kVisNNType(), _NNType);
Parameters::parse(parameters, Parameters::kVisNNDR(), _NNDR);
Parameters::parse(parameters, Parameters::kVisFeatureType(), _featureType);
Parameters::parse(parameters, Parameters::kVisMaxFeatures(), _maxWords);
Parameters::parse(parameters, Parameters::kVisMaxDepth(), _maxDepth);
Parameters::parse(parameters, Parameters::kKpSubPixWinSize(), _subPixWinSize);
Parameters::parse(parameters, Parameters::kKpSubPixIterations(), _subPixIterations);
Parameters::parse(parameters, Parameters::kKpSubPixEps(), _subPixEps);
UASSERT_MSG(_bowMinInliers >= 1, uFormat("value=%d", _bowMinInliers).c_str());
UASSERT_MSG(_bowInlierDistance > 0.0f, uFormat("value=%f", _bowInlierDistance).c_str());
UASSERT_MSG(_bowIterations > 0, uFormat("value=%d", _bowIterations).c_str());
UASSERT_MSG(_minInliers >= 1, uFormat("value=%d", _minInliers).c_str());
UASSERT_MSG(_inlierDistance > 0.0f, uFormat("value=%f", _inlierDistance).c_str());
UASSERT_MSG(_iterations > 0, uFormat("value=%d", _iterations).c_str());
}
Transform RegistrationVis::computeTransformation(
@@ -125,17 +125,17 @@ Transform RegistrationVis::computeTransformation(
uInsert(customParameters, ParametersPair(Parameters::kMemSTMSize(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpIncrementalDictionary(), "true")); // make sure it is incremental
uInsert(customParameters, ParametersPair(Parameters::kKpNewWordsComparedTogether(), "false"));
uInsert(customParameters, ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(_reextractNNType))); // bruteforce
uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_reextractNNDR)));
uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_reextractFeatureType))); // FAST/BRIEF
uInsert(customParameters, ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(_reextractMaxWords)));
uInsert(customParameters, ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(_reextractMaxDepth)));
uInsert(customParameters, ParametersPair(Parameters::kKpMinDepth(), uNumber2Str(_reextractMinDepth)));
uInsert(customParameters, ParametersPair(Parameters::kKpNNStrategy(), uNumber2Str(_NNType))); // bruteforce
uInsert(customParameters, ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(_NNDR)));
uInsert(customParameters, ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(_featureType))); // FAST/BRIEF
uInsert(customParameters, ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(_maxWords)));
uInsert(customParameters, ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(_maxDepth)));
uInsert(customParameters, ParametersPair(Parameters::kKpMinDepth(), uNumber2Str(_minDepth)));
uInsert(customParameters, ParametersPair(Parameters::kKpSubPixEps(), uNumber2Str(_subPixEps)));
uInsert(customParameters, ParametersPair(Parameters::kKpSubPixIterations(), uNumber2Str(_subPixIterations)));
uInsert(customParameters, ParametersPair(Parameters::kKpSubPixWinSize(), uNumber2Str(_subPixWinSize)));
uInsert(customParameters, ParametersPair(Parameters::kKpBadSignRatio(), "0"));
uInsert(customParameters, ParametersPair(Parameters::kKpRoiRatios(), _reextractRoiRatios));
uInsert(customParameters, ParametersPair(Parameters::kKpRoiRatios(), _roiRatios));
uInsert(customParameters, ParametersPair(Parameters::kMemGenerateIds(), "true"));
Memory memory(customParameters);
@@ -186,7 +186,7 @@ Transform RegistrationVis::computeTransformation(
words3To = &toSignature.getWords3();
}
if(_bowEstimationType == 2) // Epipolar Geometry
if(_estimationType == 2) // Epipolar Geometry
{
if(!toSignature.sensorData().stereoCameraModel().isValid() &&
(toSignature.sensorData().cameraModels().size() != 1 ||
@@ -194,8 +194,8 @@ Transform RegistrationVis::computeTransformation(
{
UERROR("Calibrated camera required (multi-cameras not supported).");
}
else if((int)wordsFrom->size() >= _bowMinInliers &&
(int)wordsTo->size() >= _bowMinInliers)
else if((int)wordsFrom->size() >= _minInliers &&
(int)wordsTo->size() >= _minInliers)
{
UASSERT(fromSignature.sensorData().stereoCameraModel().isValid() || (fromSignature.sensorData().cameraModels().size() == 1 && fromSignature.sensorData().cameraModels()[0].isValid()));
const CameraModel & cameraModel = fromSignature.sensorData().stereoCameraModel().isValid()?fromSignature.sensorData().stereoCameraModel().left():fromSignature.sensorData().cameraModels()[0];
@@ -207,9 +207,9 @@ Transform RegistrationVis::computeTransformation(
*wordsTo,
cameraModel,
cameraTransform,
_bowIterations,
_bowPnPReprojError,
_bowPnPFlags, // cv::SOLVEPNP_ITERATIVE
_iterations,
_PnPReprojError,
_PnPFlags, // cv::SOLVEPNP_ITERATIVE
1.0f,
0.99f,
*words3From, // for scale estimation
@@ -219,21 +219,21 @@ Transform RegistrationVis::computeTransformation(
if(!cameraTransform.isNull())
{
if((int)inliers3D.size() >= _bowMinInliers)
if((int)inliers3D.size() >= _minInliers)
{
if(variance <= _bowEpipolarGeometryVar)
if(variance <= _epipolarGeometryVar)
{
transform = cameraTransform;
}
else
{
msg = uFormat("Variance is too high! (max inlier distance=%f, variance=%f)", _bowEpipolarGeometryVar, variance);
msg = uFormat("Variance is too high! (max inlier distance=%f, variance=%f)", _epipolarGeometryVar, variance);
UINFO(msg.c_str());
}
}
else
{
msg = uFormat("Not enough inliers %d < %d", (int)inliers3D.size(), _bowMinInliers);
msg = uFormat("Not enough inliers %d < %d", (int)inliers3D.size(), _minInliers);
UINFO(msg.c_str());
}
}
@@ -254,7 +254,7 @@ Transform RegistrationVis::computeTransformation(
UWARN(msg.c_str());
}
}
else if(_bowEstimationType == 1) // PnP
else if(_estimationType == 1) // PnP
{
if(!toSignature.sensorData().stereoCameraModel().isValid() &&
(toSignature.sensorData().cameraModels().size() != 1 ||
@@ -269,8 +269,8 @@ Transform RegistrationVis::computeTransformation(
else
{
// 3D to 2D
if((int)words3From->size() >= _bowMinInliers &&
(int)wordsTo->size() >= _bowMinInliers)
if((int)words3From->size() >= _minInliers &&
(int)wordsTo->size() >= _minInliers)
{
UASSERT(toSignature.sensorData().stereoCameraModel().isValid() || (toSignature.sensorData().cameraModels().size() == 1 && toSignature.sensorData().cameraModels()[0].isValid()));
const CameraModel & cameraModel = toSignature.sensorData().stereoCameraModel().isValid()?toSignature.sensorData().stereoCameraModel().left():toSignature.sensorData().cameraModels()[0];
@@ -280,10 +280,10 @@ Transform RegistrationVis::computeTransformation(
uMultimapToMap(*words3From),
uMultimapToMap(*wordsTo),
cameraModel,
_bowMinInliers,
_bowIterations,
_bowPnPReprojError,
_bowPnPFlags,
_minInliers,
_iterations,
_PnPReprojError,
_PnPFlags,
Transform::getIdentity(),
uMultimapToMap(*words3To),
&variance,
@@ -293,14 +293,14 @@ Transform RegistrationVis::computeTransformation(
if(transform.isNull())
{
msg = uFormat("Not enough inliers %d/%d between %d and %d",
inliersCount, _bowMinInliers, fromSignature.id(), toSignature.id());
inliersCount, _minInliers, fromSignature.id(), toSignature.id());
UINFO(msg.c_str());
}
}
else
{
msg = uFormat("Not enough features in images (old=%d, new=%d, min=%d)",
(int)words3From->size(), (int)wordsTo->size(), _bowMinInliers);
(int)words3From->size(), (int)wordsTo->size(), _minInliers);
UINFO(msg.c_str());
}
}
@@ -309,17 +309,17 @@ Transform RegistrationVis::computeTransformation(
else
{
// 3D -> 3D
if((int)words3From->size() >= _bowMinInliers &&
(int)words3To->size() >= _bowMinInliers)
if((int)words3From->size() >= _minInliers &&
(int)words3To->size() >= _minInliers)
{
std::vector<int> inliersV;
transform = util3d::estimateMotion3DTo3D(
uMultimapToMap(*words3From),
uMultimapToMap(*words3To),
_bowMinInliers,
_bowInlierDistance,
_bowIterations,
_bowRefineIterations,
_minInliers,
_inlierDistance,
_iterations,
_refineIterations,
&variance,
0,
&inliersV);
@@ -327,14 +327,14 @@ Transform RegistrationVis::computeTransformation(
if(transform.isNull())
{
msg = uFormat("Not enough inliers %d/%d between %d and %d",
inliersCount, _bowMinInliers, fromSignature.id(), toSignature.id());
inliersCount, _minInliers, fromSignature.id(), toSignature.id());
UINFO(msg.c_str());
}
}
else
{
msg = uFormat("Not enough 3D features in images (old=%d, new=%d, min=%d)",
(int)words3From->size(), (int)words3To->size(), _bowMinInliers);
(int)words3From->size(), (int)words3To->size(), _minInliers);
UINFO(msg.c_str());
}
}
@@ -353,14 +353,14 @@ Transform RegistrationVis::computeTransformation(
roll, pitch, yaw);
UWARN(msg.c_str());
}
else if(_bowForce2D)
else if(_force2D)
{
UDEBUG("Forcing 2D...");
transform = Transform(x,y,0, 0, 0, yaw);
}
}
if(_bowVarianceFromInliersCount)
if(_varianceFromInliersCount)
{
variance = inliersCount > 0?1.0/double(inliersCount):1.0;
}
corelib/src/Rtabmap.cpp
+35 -35
View File
@@ -90,17 +90,17 @@ Rtabmap::Rtabmap() :
_rgbdLinearUpdate(Parameters::defaultRGBDLinearUpdate()),
_rgbdAngularUpdate(Parameters::defaultRGBDAngularUpdate()),
_newMapOdomChangeDistance(Parameters::defaultRGBDNewMapOdomChangeDistance()),
_loopClosureIcpRefining(Parameters::defaultRGBDIcpLoopClosureRefining()),
_odomIcpRefining(Parameters::defaultRGBDIcpOdomRefining()),
_localLoopClosureDetectionTime(Parameters::defaultRGBDLocalLoopDetectionTime()),
_localLoopClosureDetectionSpace(Parameters::defaultRGBDLocalLoopDetectionSpace()),
_loopClosureRefining(Parameters::defaultRGBDLoopClosureLinkRefining()),
_neighborLinkRefining(Parameters::defaultRGBDNeighborLinkRefining()),
_proximityByTime(Parameters::defaultRGBDProximityByTime()),
_proximityBySpace(Parameters::defaultRGBDProximityBySpace()),
_scanMatchingIdsSavedInLinks(Parameters::defaultRGBDScanMatchingIdsSavedInLinks()),
_localRadius(Parameters::defaultRGBDLocalRadius()),
_localImmunizationRatio(Parameters::defaultRGBDLocalImmunizationRatio()),
_localDetectMaxGraphDepth(Parameters::defaultRGBDLocalLoopDetectionMaxGraphDepth()),
_localPathFilteringRadius(Parameters::defaultRGBDLocalLoopDetectionPathFilteringRadius()),
_localPathOdomPosesUsed(Parameters::defaultRGBDLocalLoopDetectionPathOdomPosesUsed()),
_localPathScansMerged(Parameters::defaultRGBDLocalLoopDetectionPathScansMerged()),
_proximityMaxGraphDepth(Parameters::defaultRGBDProximityMaxGraphDepth()),
_proximityFilteringRadius(Parameters::defaultRGBDProximityPathFilteringRadius()),
_proximityRawPosesUsed(Parameters::defaultRGBDProximityPathRawPosesUsed()),
_proximityScansMerged(Parameters::defaultRGBDProximityPathScansMerged()),
_databasePath(""),
_optimizeFromGraphEnd(Parameters::defaultRGBDOptimizeFromGraphEnd()),
_optimizationMaxLinearError(Parameters::defaultRGBDOptimizeMaxError()),
@@ -397,16 +397,16 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rgbdLinearUpdate);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rgbdAngularUpdate);
Parameters::parse(parameters, Parameters::kRGBDNewMapOdomChangeDistance(), _newMapOdomChangeDistance);
Parameters::parse(parameters, Parameters::kRGBDIcpOdomRefining(), _odomIcpRefining);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionTime(), _localLoopClosureDetectionTime);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionSpace(), _localLoopClosureDetectionSpace);
Parameters::parse(parameters, Parameters::kRGBDNeighborLinkRefining(), _neighborLinkRefining);
Parameters::parse(parameters, Parameters::kRGBDProximityByTime(), _proximityByTime);
Parameters::parse(parameters, Parameters::kRGBDProximityBySpace(), _proximityBySpace);
Parameters::parse(parameters, Parameters::kRGBDScanMatchingIdsSavedInLinks(), _scanMatchingIdsSavedInLinks);
Parameters::parse(parameters, Parameters::kRGBDLocalRadius(), _localRadius);
Parameters::parse(parameters, Parameters::kRGBDLocalImmunizationRatio(), _localImmunizationRatio);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionMaxGraphDepth(), _localDetectMaxGraphDepth);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionPathFilteringRadius(), _localPathFilteringRadius);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionPathOdomPosesUsed(), _localPathOdomPosesUsed);
Parameters::parse(parameters, Parameters::kRGBDLocalLoopDetectionPathScansMerged(), _localPathScansMerged);
Parameters::parse(parameters, Parameters::kRGBDProximityMaxGraphDepth(), _proximityMaxGraphDepth);
Parameters::parse(parameters, Parameters::kRGBDProximityPathFilteringRadius(), _proximityFilteringRadius);
Parameters::parse(parameters, Parameters::kRGBDProximityPathRawPosesUsed(), _proximityRawPosesUsed);
Parameters::parse(parameters, Parameters::kRGBDProximityPathScansMerged(), _proximityScansMerged);
Parameters::parse(parameters, Parameters::kRGBDOptimizeFromGraphEnd(), _optimizeFromGraphEnd);
Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), _optimizationMaxLinearError);
Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure);
@@ -415,7 +415,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRGBDPlanStuckIterations(), _pathStuckIterations);
Parameters::parse(parameters, Parameters::kRGBDPlanLinearVelocity(), _pathLinearVelocity);
Parameters::parse(parameters, Parameters::kRGBDPlanAngularVelocity(), _pathAngularVelocity);
Parameters::parse(parameters, Parameters::kRGBDIcpLoopClosureRefining(), _loopClosureIcpRefining);
Parameters::parse(parameters, Parameters::kRGBDLoopClosureLinkRefining(), _loopClosureRefining);
UASSERT(_rgbdLinearUpdate >= 0.0f);
UASSERT(_rgbdAngularUpdate >= 0.0f);
@@ -1000,7 +1000,7 @@ bool Rtabmap::process(
//============================================================
// Scan matching
//============================================================
if(_odomIcpRefining &&
if(_neighborLinkRefining &&
!signature->sensorData().laserScanCompressed().empty() &&
rehearsedId == 0) // don't do it if rehearsal happened
{
@@ -1143,7 +1143,7 @@ bool Rtabmap::process(
//============================================================
// Local loop closure in TIME
//============================================================
if(_localLoopClosureDetectionTime &&
if(_proximityByTime &&
rehearsedId == 0 && // don't do it if rehearsal happened
signature->getWords3().size() &&
_memory->isIncremental()) // don't do it in localization mode
@@ -1160,7 +1160,7 @@ bool Rtabmap::process(
float variance = 1.0f;
int inliers = -1;
Transform transform = _memory->computeVisualTransform(signature->id(), *iter, &rejectedMsg, &inliers, &variance);
if(!transform.isNull() && _loopClosureIcpRefining)
if(!transform.isNull() && _loopClosureRefining)
{
transform = _memory->computeIcpTransform(signature->id(), *iter, transform, &rejectedMsg, 0, &variance);
}
@@ -1718,7 +1718,7 @@ bool Rtabmap::process(
transform = _memory->computeVisualTransform(signature->id(), _loopClosureHypothesis.first, &rejectedMsg, &loopClosureVisualInliers, &variance);
if(!transform.isNull() && _loopClosureIcpRefining)
if(!transform.isNull() && _loopClosureRefining)
{
transform = _memory->computeIcpTransform(signature->id(), _loopClosureHypothesis.first, transform, &rejectedMsg, 0, &variance);
}
@@ -1753,7 +1753,7 @@ bool Rtabmap::process(
int localSpaceClosuresAddedByICPOnly = 0;
int lastLocalSpaceClosureId = 0;
int localSpacePaths = 0;
if(_localLoopClosureDetectionSpace &&
if(_proximityBySpace &&
_localRadius > 0 &&
_rgbdSlamMode &&
signature->getWeight() >= 0) // not an intermediate node
@@ -1782,7 +1782,7 @@ bool Rtabmap::process(
std::map<int, float> nearestIds;
if(_memory->isIncremental())
{
nearestIds = _memory->getNeighborsIdRadius(signature->id(), _localRadius, _optimizedPoses, _localDetectMaxGraphDepth);
nearestIds = _memory->getNeighborsIdRadius(signature->id(), _localRadius, _optimizedPoses, _proximityMaxGraphDepth);
}
else
{
@@ -1815,18 +1815,18 @@ bool Rtabmap::process(
// nearest pose must not be linked to current location and enough
if(!signature->hasLink(nearestId) &&
(_localPathFilteringRadius <= 0.0f ||
_optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _localPathFilteringRadius*_localPathFilteringRadius))
(_proximityFilteringRadius <= 0.0f ||
_optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _proximityFilteringRadius*_proximityFilteringRadius))
{
float variance = 1.0f;
Transform transform = _memory->computeVisualTransform(signature->id(), nearestId, 0, 0, &variance);
if(!transform.isNull() && _loopClosureIcpRefining)
if(!transform.isNull() && _loopClosureRefining)
{
transform = _memory->computeIcpTransform(signature->id(), nearestId, transform, 0, 0, &variance);
}
if(!transform.isNull())
{
if(_localPathFilteringRadius <= 0 || transform.getNormSquared() <= _localPathFilteringRadius*_localPathFilteringRadius)
if(_proximityFilteringRadius <= 0 || transform.getNormSquared() <= _proximityFilteringRadius*_proximityFilteringRadius)
{
UINFO("[Visual] Add local loop closure in SPACE (%d->%d) %s",
signature->id(),
@@ -1846,7 +1846,7 @@ bool Rtabmap::process(
{
UWARN("Ignoring local loop closure with %d because resulting "
"transform is to large!? (%fm > %fm)",
nearestId, transform.getNorm(), _localPathFilteringRadius);
nearestId, transform.getNorm(), _proximityFilteringRadius);
}
}
}
@@ -1879,10 +1879,10 @@ bool Rtabmap::process(
// nearest pose must be close and not linked to current location
if(!signature->hasLink(nearestId) &&
(_localPathFilteringRadius <= 0.0f ||
_optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _localPathFilteringRadius*_localPathFilteringRadius))
(_proximityFilteringRadius <= 0.0f ||
_optimizedPoses.at(signature->id()).getDistanceSquared(_optimizedPoses.at(nearestId)) < _proximityFilteringRadius*_proximityFilteringRadius))
{
if(!_localPathScansMerged)
if(!_proximityScansMerged)
{
//only keep the nearest node
std::map<int, Transform> tmp;
@@ -1892,7 +1892,7 @@ bool Rtabmap::process(
else
{
// Assemble scans in the path and do ICP only
if(_localPathOdomPosesUsed)
if(_proximityRawPosesUsed)
{
//optimize the path's poses locally
path = optimizeGraph(nearestId, uKeysSet(path), std::map<int, Transform>(), false);
@@ -1904,10 +1904,10 @@ bool Rtabmap::process(
jter->second = t * jter->second;
}
}
if(path.size() > 2 && _localPathFilteringRadius > 0.0f)
if(path.size() > 2 && _proximityFilteringRadius > 0.0f)
{
// path filtering
std::map<int, Transform> filteredPath = graph::radiusPosesFiltering(path, _localPathFilteringRadius, 0, true);
std::map<int, Transform> filteredPath = graph::radiusPosesFiltering(path, _proximityFilteringRadius, 0, true);
// make sure the nearest and farthest poses are still here
filteredPath.insert(*path.find(nearestId));
filteredPath.insert(*path.begin());
@@ -1927,7 +1927,7 @@ bool Rtabmap::process(
Transform transform = _memory->computeScanMatchingTransform(signature->id(), nearestId, path, 0, 0, &variance);
if(!transform.isNull())
{
if(_localPathFilteringRadius <= 0 || transform.getNormSquared() <= _localPathFilteringRadius*_localPathFilteringRadius)
if(_proximityFilteringRadius <= 0 || transform.getNormSquared() <= _proximityFilteringRadius*_proximityFilteringRadius)
{
UINFO("[Scan matching] Add local loop closure in SPACE (%d->%d) %s",
signature->id(),
@@ -1973,7 +1973,7 @@ bool Rtabmap::process(
{
UWARN("Ignoring local loop closure with %d because resulting "
"transform is to large!? (%fm > %fm)",
nearestId, transform.getNorm(), _localPathFilteringRadius);
nearestId, transform.getNorm(), _proximityFilteringRadius);
}
}
}
corelib/src/util3d_filtering.cpp
+4 -4
View File
@@ -69,7 +69,7 @@ cv::Mat downsample(
int finalSize = cloud.cols/step;
output = cv::Mat(1, finalSize, cloud.type());
int oi = 0;
for(unsigned int i=0; i<cloud.cols-step+1; i+=step)
for(int i=0; i<cloud.cols-step+1; i+=step)
{
cv::Mat(cloud, cv::Range::all(), cv::Range(i,i+1)).copyTo(cv::Mat(output, cv::Range::all(), cv::Range(oi,oi+1)));
++oi;
@@ -96,7 +96,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr downsample(
}
else
{
if(cloud->size() > step)
if((int)cloud->size() > step)
{
int finalSize = cloud->size()/step;
output->resize(finalSize);
@@ -126,12 +126,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr downsample(
}
else
{
if(cloud->size() > step)
if((int)cloud->size() > step)
{
int finalSize = cloud->size()/step;
output->resize(finalSize);
int oi = 0;
for(unsigned int i=0; i<cloud->size()-step+1; i+=step)
for(int i=0; i<(int)cloud->size()-step+1; i+=step)
{
(*output)[oi++] = cloud->at(i);
}
guilib/src/PreferencesDialog.cpp
+8 -9
View File
@@ -478,7 +478,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->general_checkBox_generateIds->setObjectName(Parameters::kMemGenerateIds().c_str());
_ui->general_checkBox_badSignaturesIgnored->setObjectName(Parameters::kMemBadSignaturesIgnored().c_str());
_ui->general_checkBox_initWMWithAllNodes->setObjectName(Parameters::kMemInitWMWithAllNodes().c_str());
_ui->checkBox_localSpaceLinksKeptInWM->setObjectName(Parameters::kMemLocalSpaceLinksKeptInWM().c_str());
_ui->checkBox_localSpaceScanMatchingIDsSaved->setObjectName(Parameters::kRGBDScanMatchingIdsSavedInLinks().c_str());
_ui->spinBox_imageDecimation->setObjectName(Parameters::kMemImageDecimation().c_str());
_ui->general_spinBox_laserScanDownsample->setObjectName(Parameters::kMemLaserScanDownsampleStepSize().c_str());
@@ -590,7 +589,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->rgdb_angularUpdate->setObjectName(Parameters::kRGBDAngularUpdate().c_str());
_ui->rgdb_rehearsalWeightIgnoredWhileMoving->setObjectName(Parameters::kMemRehearsalWeightIgnoredWhileMoving().c_str());
_ui->rgdb_newMapOdomChange->setObjectName(Parameters::kRGBDNewMapOdomChangeDistance().c_str());
_ui->odomScanHistory->setObjectName(Parameters::kRGBDIcpOdomRefining().c_str());
_ui->odomScanHistory->setObjectName(Parameters::kRGBDNeighborLinkRefining().c_str());
_ui->spinBox_maxLocalLocationsRetrieved->setObjectName(Parameters::kRGBDMaxLocalRetrieved().c_str());
_ui->graphOptimization_type->setObjectName(Parameters::kRGBDOptimizeStrategy().c_str());
@@ -608,13 +607,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphPlan_linearVelocity->setObjectName(Parameters::kRGBDPlanLinearVelocity().c_str());
_ui->graphPlan_angularVelocity->setObjectName(Parameters::kRGBDPlanAngularVelocity().c_str());
_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDLocalLoopDetectionSpace().c_str());
_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDProximityByTime().c_str());
_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDProximityBySpace().c_str());
_ui->localDetection_radius->setObjectName(Parameters::kRGBDLocalRadius().c_str());
_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->checkBox_localSpaceAssembleScans->setObjectName(Parameters::kRGBDLocalLoopDetectionPathScansMerged().c_str());
_ui->localDetection_maxDiffID->setObjectName(Parameters::kRGBDProximityMaxGraphDepth().c_str());
_ui->localDetection_pathFilteringRadius->setObjectName(Parameters::kRGBDProximityPathFilteringRadius().c_str());
_ui->checkBox_localSpacePathOdomPosesUsed->setObjectName(Parameters::kRGBDProximityPathRawPosesUsed().c_str());
_ui->checkBox_localSpaceAssembleScans->setObjectName(Parameters::kRGBDProximityPathScansMerged().c_str());
_ui->rgdb_localImmunizationRatio->setObjectName(Parameters::kRGBDLocalImmunizationRatio().c_str());
_ui->loopClosure_bowMinInliers->setObjectName(Parameters::kVisMinInliers().c_str());
@@ -642,7 +641,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->subpix_iterations->setObjectName(Parameters::kVisSubPixIterations().c_str());
_ui->subpix_eps->setObjectName(Parameters::kVisSubPixEps().c_str());
_ui->loopClosure_icp->setObjectName(Parameters::kRGBDIcpLoopClosureRefining().c_str());
_ui->loopClosure_icp->setObjectName(Parameters::kRGBDLoopClosureLinkRefining().c_str());
_ui->globalDetection_icpMaxTranslation->setObjectName(Parameters::kIcpMaxTranslation().c_str());
_ui->globalDetection_icpMaxRotation->setObjectName(Parameters::kIcpMaxRotation().c_str());
_ui->loopClosure_icp2D->setObjectName(Parameters::kIcp2D().c_str());
guilib/src/ui/preferencesDialog.ui
+29 -49
View File
@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>755</width>
<height>1854</height>
<y>-1112</y>
<width>760</width>
<height>1802</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>8</number>
<number>20</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -6935,7 +6935,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="3" column="1">
<widget class="QLabel" name="label_scanMatching">
<property name="text">
<string>Pose ICP refining: odometry pose correction using ICP.</string>
<string>Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using ICP (laser scans required!).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -6987,7 +6987,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="4" column="1">
<widget class="QLabel" name="label_scanMatching_8">
<property name="text">
<string>ICP refining. When enabled, loop closure constraints are refined with ICP estimation (3D or 2D). See &quot;ICP&quot; panel for parameters.</string>
<string>Loop closure link refining. If the estimated loop closure transformation is refined using ICP (laser scans required!).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7007,7 +7007,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="5" column="1">
<widget class="QLabel" name="label_scanMatching_9">
<property name="text">
<string>Re-extract visual features when computing loop closure constraints.</string>
<string>Re-extract visual features when computing loop closure transformations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7268,7 +7268,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QGroupBox" name="groupBox_localDetection_time">
<property name="title">
<string>Local loop closure detection in time</string>
<string>Proximity detection in time</string>
</property>
<property name="checkable">
<bool>true</bool>
@@ -7277,7 +7277,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QLabel" name="label_54">
<property name="text">
<string>Activate local detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. This generates more constraints in the map's graph, so more time is required to optimize the graph.</string>
<string>Activate proximity detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. This generates more constraints in the map's graph, so more time is required to optimize the graph.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7293,7 +7293,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QGroupBox" name="groupBox_localDetection_space">
<property name="title">
<string>Local loop closure detection in space</string>
<string>Proximity detection in space</string>
</property>
<property name="checkable">
<bool>true</bool>
@@ -7302,7 +7302,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QLabel" name="label_space1_2">
<property name="text">
<string>Activate local detection over locations (in Working Memory) near in space. The locations are compared to those inside the local radius of the current estimated position of the robot (at a maximum distance of the path filtering radius below). If the laser scans are used, local locations are merged together and the current laser scan is compared to them. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations.</string>
<string>Activate proximity detection over locations (in Working Memory) near in space. The locations are compared to those inside the local radius of the current estimated position of the robot (at a maximum distance of the path filtering radius below). If the laser scans are used, local locations are merged together and the current laser scan is compared to them. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7314,6 +7314,22 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
<item>
<layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_space3_3">
<property name="text">
@@ -7347,22 +7363,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="localDetection_maxDiffID">
<property name="maximum">
@@ -7376,7 +7376,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="0" column="1">
<widget class="QLabel" name="label_space3_2">
<property name="text">
<string>Maximum graph depth between the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.</string>
<string>Maximum graph depth between the current/last loop closure location and the proximity hypotheses. Set 0 to ignore.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -7386,27 +7386,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_localSpaceLinksKeptInWM">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_scanMatching_2">
<property name="text">
<string>If local space links are kept in WM.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_scanMatching_6">
<property name="text">
<string>Save scan matching IDs in link's user data.</string>
@@ -7419,7 +7399,7 @@ 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="5" column="0">
<widget class="QCheckBox" name="checkBox_localSpaceScanMatchingIDsSaved">
<property name="text">
<string/>