mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added constraints editing to DatabaseViewer to add/reject loop closures, refine loop closures with ICP, detect more loop closures using the optimized map
Added Feature2D::parseParameters() git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1632 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -7,7 +7,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1076</width>
|
||||
<height>637</height>
|
||||
<height>582</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
@@ -260,7 +260,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1076</width>
|
||||
<height>22</height>
|
||||
<height>25</height>
|
||||
</rect>
|
||||
</property>
|
||||
<widget class="QMenu" name="menuFile">
|
||||
@@ -282,6 +282,10 @@
|
||||
<addaction name="actionGenerate_local_graph_dot"/>
|
||||
<addaction name="actionGenerate_TORO_graph_graph"/>
|
||||
<addaction name="separator"/>
|
||||
<addaction name="actionDetect_more_loop_closures"/>
|
||||
<addaction name="actionRefine_all_neighbor_links"/>
|
||||
<addaction name="actionRefine_all_loop_closure_links"/>
|
||||
<addaction name="separator"/>
|
||||
<addaction name="actionClean_database"/>
|
||||
<addaction name="actionClean_local_graph"/>
|
||||
<addaction name="separator"/>
|
||||
@@ -309,13 +313,6 @@
|
||||
<item>
|
||||
<widget class="rtabmap::CloudViewer" name="constraintsViewer" native="true"/>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label_constraint">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QFormLayout" name="formLayout">
|
||||
<property name="fieldGrowthPolicy">
|
||||
@@ -355,6 +352,79 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_constraint">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>Transform</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_18">
|
||||
<property name="text">
|
||||
<string>Fitness</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_fitness">
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_5">
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_refine">
|
||||
<property name="text">
|
||||
<string>Refine (ICP)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_reset">
|
||||
<property name="text">
|
||||
<string>Reset</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_add">
|
||||
<property name="text">
|
||||
<string>Add</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_reject">
|
||||
<property name="text">
|
||||
<string>Reject</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
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||||
@@ -464,6 +534,371 @@
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QDockWidget" name="dockWidget_icp">
|
||||
<property name="windowTitle">
|
||||
<string>ICP parameters</string>
|
||||
</property>
|
||||
<attribute name="dockWidgetArea">
|
||||
<number>2</number>
|
||||
</attribute>
|
||||
<widget class="QWidget" name="dockWidgetContents_3">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_11">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_4" columnminimumwidth="1,0">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_14">
|
||||
<property name="text">
|
||||
<string>Decimation</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_icp_decimation">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>8</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>4</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_17">
|
||||
<property name="text">
|
||||
<string>Max depth</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>2.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="text">
|
||||
<string>Voxel</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_voxel">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.005000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="text">
|
||||
<string>Max correspondence distance</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxCorrespDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="text">
|
||||
<string>Iteration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_icp_iteration">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>30</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>Point to plane</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_icp_p2plane">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLabel" name="label_20">
|
||||
<property name="text">
|
||||
<string>Normal K neighbors</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_icp_normalKSearch">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>20</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>31</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QDockWidget" name="dockWidget_visual">
|
||||
<property name="windowTitle">
|
||||
<string>Visual parameters</string>
|
||||
</property>
|
||||
<attribute name="dockWidgetArea">
|
||||
<number>1</number>
|
||||
</attribute>
|
||||
<widget class="QWidget" name="dockWidgetContents_4">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_3" columnminimumwidth="1,0">
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_24">
|
||||
<property name="text">
|
||||
<string>Recompute features (SURF)</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_visual_recomputeFeatures">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_25">
|
||||
<property name="text">
|
||||
<string>SURF hessian threshold</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_hessian">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100000.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>150.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_26">
|
||||
<property name="text">
|
||||
<string>NNDR</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_nndr">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.800000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="text">
|
||||
<string>Min correspondences</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_visual_minCorrespondences">
|
||||
<property name="minimum">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>3</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="text">
|
||||
<string>Max correspondence distance</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxCorrespDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLabel" name="label_23">
|
||||
<property name="text">
|
||||
<string>Iteration</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_visual_iteration">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>30</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLabel" name="label_19">
|
||||
<property name="text">
|
||||
<string>Max feature depth</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_visual_maxDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>4.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
<action name="actionOpen_database">
|
||||
<property name="text">
|
||||
<string>Open database</string>
|
||||
@@ -529,6 +964,21 @@
|
||||
<string>Generate TORO graph (*.graph)...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionRefine_all_neighbor_links">
|
||||
<property name="text">
|
||||
<string>Refine all neighbor links...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionRefine_all_loop_closure_links">
|
||||
<property name="text">
|
||||
<string>Refine all loop closure links...</string>
|
||||
</property>
|
||||
</action>
|
||||
<action name="actionDetect_more_loop_closures">
|
||||
<property name="text">
|
||||
<string>Detect more loop closures...</string>
|
||||
</property>
|
||||
</action>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
<customwidget>
|
||||
|
||||
Reference in New Issue
Block a user