mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
increased version to 0.8.4: Database Link's "variance" field split into "rot_variance" and "trans_variance". Added Parameter LccIcp/HighTransitionalVariance
This commit is contained in:
Mathieu Labbe
@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-522</y>
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<y>0</y>
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<width>744</width>
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<height>1179</height>
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<height>1101</height>
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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>3</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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@@ -4986,7 +4986,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="3" column="1">
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<widget class="QLabel" name="label_scanMatching">
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<property name="text">
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<string>Laser scan matching for odometry pose correction. ICP 2D only is used here.</string>
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<string>Odometry pose correction using laser scan matching. ICP 2D only is used here.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -5029,125 +5029,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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_globalConstraints">
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<property name="title">
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<string>Global loop closure constraints</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_20">
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<item>
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<widget class="QLabel" name="label_55">
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<property name="text">
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<string>When a global loop closure is detected by the Bayes filter, a transform is computed between the current location and the old one. If a transform cannot be computed, the loop closure is rejected. The computation of the transform is done in 2 steps: </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>
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<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
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<item row="0" column="1">
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<widget class="QLabel" name="label_57">
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<property name="text">
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<string>A transformation is computed using the 3D visual word correspondences. See "Loop closure constraint" panel for parameters.</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="0" column="0">
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<widget class="QLabel" name="label_17">
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<property name="text">
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<string>1)</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_64">
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<property name="text">
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<string>Then if enabled, the visual transform is used as a guess for ICP estimation (3D or 2D). See "ICP" panel for parameters.</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="QLabel" name="label_18">
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<property name="text">
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<string>2)</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<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="QComboBox" name="globalDetection_icpType">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>No ICP</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>ICP 3D (e.g. Kinect depth)</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>ICP 2D (e.g. Laser scan)</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_19">
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<property name="text">
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<string>Use ICP estimation. If ICP 2D is selected, laser scans are required.</string>
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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_icpMaxDistance">
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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>2</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<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_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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</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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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_graphOptimization">
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<property name="title">
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@@ -5405,7 +5286,7 @@ Warning when set to false: when some nodes are transferred, the first referentia
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<item>
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<widget class="QLabel" name="label_16">
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<property name="text">
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<string>Parameters to compute a transform from 3D visual word correspondences.</string>
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<string>When a global loop closure is detected by the Bayes filter, a transform is computed between the current location and the old one. If a transform cannot be computed, the loop closure is rejected. A transformation is computed using the 3D visual word correspondences.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -5523,12 +5404,44 @@ Warning when set to false: when some nodes are transferred, the first referentia
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QComboBox" name="globalDetection_icpType">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>No ICP</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>ICP 3D (e.g. Kinect depth)</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>ICP 2D (e.g. Laser scan)</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_57">
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<property name="text">
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<string>When enabled, the visual transform is used as a guess for ICP estimation (3D or 2D). See "ICP" panel for parameters.</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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<item>
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<widget class="QGroupBox" name="groupBox_reextract">
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<property name="title">
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<string>Re-extract features</string>
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<string>Re-extract features on global loop closure</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
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@@ -5537,16 +5450,6 @@ Warning when set to false: when some nodes are transferred, the first referentia
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<bool>true</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_46">
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<item>
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<widget class="QLabel" name="label_171">
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<property name="text">
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<string>If not activated, when a loop closure constraint must be computed, the words already extracted for the loop closure detector are used. These words are limited (see Visual Word->Words Per Image) and matched to the loop closure detection vocabulary. When the vocabulary is large, there maybe less corresponding words on a loop closure.</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>
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<widget class="QLabel" name="label_182">
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<property name="text">
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@@ -5558,9 +5461,9 @@ Warning when set to false: when some nodes are transferred, the first referentia
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_183">
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<widget class="QLabel" name="label_171">
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<property name="text">
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<string>Note that this is used only for global loop closure, so not for local loop closure in time.</string>
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<string>If not activated, when a loop closure constraint must be computed, the words already extracted for the loop closure detector are used. These words are limited (see Visual Word->Words Per Image) and matched to the loop closure detection vocabulary. When the vocabulary is large, there maybe less corresponding words on a loop closure.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -5749,7 +5652,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="title">
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<string>ICP</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_51">
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<layout class="QVBoxLayout" name="verticalLayout_20">
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<item>
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<widget class="QLabel" name="label_7">
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<property name="text">
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@@ -5757,15 +5660,62 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QCheckBox" name="loopClosure_highICPTransitionalVariance">
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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="QDoubleSpinBox" name="globalDetection_icpMaxDistance">
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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>2</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<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="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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</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_80">
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<property name="text">
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<string>Set high transitional variance on odometry pose correction and on local loop closure in space. Particularly useful when the robot is moving in hallways with short-range laser rangefinder. Only used with ICP 2D.</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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<item>
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<widget class="QGroupBox" name="groupBox_loopClosure_icp3">
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<property name="title">
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<string>ICP 3D - Point To Plane (e.g. Kinect depth)</string>
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</property>
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<layout class="QFormLayout" name="formLayout_3">
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<property name="fieldGrowthPolicy">
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout_53" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QSpinBox" name="loopClosure_icpDecimation">
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<property name="minimum">
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@@ -5936,6 +5886,13 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
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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="7" column="1">
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<widget class="QLabel" name="label_144">
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<property name="text">
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@@ -5946,13 +5903,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
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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="8" column="0">
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<widget class="QSpinBox" name="loopClosure_icpPointToPlaneNormals">
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<property name="minimum">
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@@ -5984,10 +5934,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<property name="title">
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<string>ICP 2D (e.g. Laser scan)</string>
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</property>
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<layout class="QFormLayout" name="formLayout_4">
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<property name="fieldGrowthPolicy">
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icp2MaxCorrespondenceDistance">
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<property name="minimum">
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