mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Updated how local scan matching is done (doing it on segmented local paths)
This commit is contained in:
Mathieu Labbe
@@ -64,8 +64,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>759</width>
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<height>800</height>
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<width>760</width>
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<height>1002</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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@@ -86,7 +86,7 @@
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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>26</number>
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<number>21</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">
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@@ -1603,6 +1603,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<bool>false</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_9">
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<item row="1" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QToolButton" name="source_database_toolButton_selectSource">
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<property name="text">
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@@ -1613,14 +1620,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="0" column="1">
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<widget class="QLineEdit" name="source_database_lineEdit_path"/>
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</item>
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<item row="2" column="1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_58">
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<property name="text">
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<string>Start position (index)</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="3" column="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStartPos">
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<property name="minimum">
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<number>0</number>
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@@ -1644,13 +1651,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QCheckBox" name="source_checkBox_ignoreOdometry">
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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="1" column="1">
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<widget class="QLabel" name="label_72">
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<property name="text">
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@@ -1661,6 +1661,23 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_80">
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<property name="text">
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<string>Ignore goal delay.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
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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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</widget>
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</item>
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@@ -2731,6 +2748,25 @@ 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="1" column="0">
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<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
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<property name="minimumSize">
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<size>
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<width>50</width>
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<height>0</height>
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</size>
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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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<property name="value">
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<double>0.200000000000000</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="QSpinBox" name="general_spinBox_maxStMemSize">
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<property name="minimum">
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@@ -2764,25 +2800,6 @@ 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="1" column="0">
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<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
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<property name="minimumSize">
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<size>
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<width>50</width>
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<height>0</height>
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</size>
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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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<property name="value">
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<double>0.200000000000000</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_ratioRecent">
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<property name="text">
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@@ -2916,6 +2933,41 @@ 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_retrieved_8">
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<property name="text">
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<string>If > 0.0, voxelize laser scans when creating a location. This feature can be used to save laser scans already voxelized.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxel">
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<property name="minimumSize">
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<size>
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<width>50</width>
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<height>0</height>
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</size>
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</property>
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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="decimals">
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<number>3</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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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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@@ -5157,6 +5209,22 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<layout class="QGridLayout" name="gridLayout_50" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
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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="decimals">
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<number>1</number>
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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>1.000000000000000</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="QSpinBox" name="localDetection_maxDiffID">
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<property name="maximum">
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<number>999</number>
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@@ -5166,14 +5234,7 @@ 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="0" column="0">
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<widget class="QSpinBox" name="localDetection_maxNeighbors">
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<property name="value">
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<number>10</number>
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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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<item row="0" column="1">
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<widget class="QLabel" name="label_space3_2">
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<property name="text">
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<string>Maximum ID difference between the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.</string>
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@@ -5183,16 +5244,6 @@ 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="0" column="1">
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<widget class="QLabel" name="label_space3">
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<property name="text">
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<string>Maximum nearest neighbors for space detection.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="checkBox_localSpaceLinksKeptInWM">
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<property name="text">
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@@ -5210,6 +5261,16 @@ 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="1" column="1">
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<widget class="QLabel" name="label_space3_3">
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<property name="text">
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<string>Path filtering radius to avoid merging laser scans which are close.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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@@ -5263,14 +5324,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="1" column="1">
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<widget class="QLabel" name="label_space3_4">
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<property name="text">
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<string>Before planning in the graph, near nodes are linked together (even if they don't belong to same map). Radius is defined by "Goal reached radius" above.</string>
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<string>Add virtual links. Before planning in the graph, near nodes are linked together. The maximum distance is defined by "Goal reached radius" above. If "Maximum ID difference" below is set, only close nodes in time can be linked together.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_space3_5">
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<property name="text">
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<string>When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#".</string>
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@@ -5280,13 +5341,33 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="3" column="0">
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<widget class="QCheckBox" name="graphPlan_goalsSavedInUserData">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_space3_6">
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<property name="text">
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<string>Maximum ID difference between close nodes to add virtual links. Set 0 to ignore.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="graphPlan_maxDiffID">
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<property name="maximum">
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<number>999</number>
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</property>
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<property name="value">
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<number>50</number>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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@@ -5754,7 +5835,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<item>
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<layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="globalDetection_icpMaxDistance">
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<widget class="QDoubleSpinBox" name="globalDetection_icpMaxTranslation">
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<property name="suffix">
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<string> m</string>
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</property>
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@@ -5775,13 +5856,42 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<item row="0" column="1">
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<widget class="QLabel" name="label_51">
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<property name="text">
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<string>Maximum ICP correction distance accepted. A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
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<string>Maximum ICP translation correction accepted (>0). A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_55">
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<property name="text">
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<string>Maximum ICP rotation correction accepted (>0). A large rotation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="globalDetection_icpMaxRotation">
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<property name="suffix">
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<string> rad</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>3.140000000000000</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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<property name="value">
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<double>0.780000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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