mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added a quality odometry threshold, turning the background yellow when the mapping area has too low features
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1334 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>1027</width>
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<height>494</height>
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<height>659</height>
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</rect>
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</property>
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<property name="sizePolicy">
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@@ -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>724</width>
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<height>1076</height>
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<width>729</width>
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<height>823</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>0</number>
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<number>15</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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@@ -143,12 +143,9 @@
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<item>
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<widget class="QGroupBox" name="groupBox_5">
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<property name="title">
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<string>Image view</string>
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<string>Loop closure detection view</string>
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</property>
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<layout class="QFormLayout" name="formLayout_12">
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<property name="fieldGrowthPolicy">
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<item row="1" column="0">
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<widget class="QCheckBox" name="checkBox_imageFlipped">
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<property name="text">
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@@ -235,7 +232,7 @@
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<item row="0" column="1">
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<widget class="QLabel" name="label_70">
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<property name="text">
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<string>Vertical layout used for the loop closure detection window.</string>
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<string>Vertical layout.</string>
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</property>
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<property name="wordWrap">
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<bool>false</bool>
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@@ -255,6 +252,36 @@
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox">
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<property name="title">
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<string>3D Map view</string>
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</property>
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<layout class="QFormLayout" name="formLayout_23">
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<item row="0" column="0">
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<widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
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<property name="maximum">
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<number>9999</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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<item row="0" column="1">
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<widget class="QLabel" name="label_86">
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<property name="text">
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<string>Odometry warning theshold:
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Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -> General -> Odom inliers.</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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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_2">
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<property name="title">
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@@ -598,7 +625,7 @@ High-res view</string>
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.600000000000000</double>
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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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@@ -4963,7 +4990,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<item row="10" column="1">
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<widget class="QLabel" name="label_104">
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<property name="text">
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<string>Max feature depth. For ICP, it is the max cloud depth.</string>
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@@ -4973,7 +5000,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<item row="10" column="0">
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<widget class="QDoubleSpinBox" name="odom_maxDepth">
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<property name="suffix">
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<string> m</string>
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@@ -5009,6 +5036,38 @@ 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_90">
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<property name="text">
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<string>Minmum ratio of keypoints between the current image and the last image to compute odometry.</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="odom_ratio">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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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>0.500000000000000</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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