mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Odometry: Added Kalman Filtering option
This commit is contained in:
matlabbe
@@ -687,13 +687,17 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->doubleSpinBox_maxVariance->setObjectName(Parameters::kOdomMonoMaxVariance().c_str());
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//Odometry particle filter
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_ui->odom_particleFiltering->setObjectName(Parameters::kOdomParticleFiltering().c_str());
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_ui->odom_filteringStrategy->setObjectName(Parameters::kOdomFilteringStrategy().c_str());
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_ui->spinBox_particleSize->setObjectName(Parameters::kOdomParticleSize().c_str());
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_ui->doubleSpinBox_particleNoiseT->setObjectName(Parameters::kOdomParticleNoiseT().c_str());
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_ui->doubleSpinBox_particleLambdaT->setObjectName(Parameters::kOdomParticleLambdaT().c_str());
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_ui->doubleSpinBox_particleNoiseR->setObjectName(Parameters::kOdomParticleNoiseR().c_str());
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_ui->doubleSpinBox_particleLambdaR->setObjectName(Parameters::kOdomParticleLambdaR().c_str());
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//Odometry Kalman filter
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_ui->doubleSpinBox_kalmanProcessNoise->setObjectName(Parameters::kOdomKalmanProcessNoise().c_str());
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_ui->doubleSpinBox_kalmanMeasurementNoise->setObjectName(Parameters::kOdomKalmanMeasurementNoise().c_str());
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//Stereo
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_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
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_ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str());
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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>8</number>
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<number>17</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" stretch="0,1">
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@@ -6575,7 +6575,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
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<item row="4" column="1">
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<widget class="QLabel" name="label_233">
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<property name="text">
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<string>Particle filtering to smooth the odometry trajectory. See "Particle Filter" panel for the related parameters.</string>
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<string>Pose estimation filtering strategy.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -6592,13 +6592,6 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="odom_particleFiltering">
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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="1">
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<widget class="QLabel" name="label_103">
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<property name="text">
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@@ -6714,6 +6707,28 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QComboBox" name="odom_filteringStrategy">
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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 filtering</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>Kalman filtering</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>Particle filtering</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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</layout>
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</item>
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<item>
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@@ -7446,6 +7461,119 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_52">
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<layout class="QVBoxLayout" name="verticalLayout_84">
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<item>
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<widget class="QGroupBox" name="groupBox_odometryKalmanFilter2">
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<property name="title">
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<string>Kalman Filter</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_171">
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<item>
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<widget class="QLabel" name="label_673">
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<property name="text">
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<string>Parameters for the Kalman filter when used to smooth the odometry trajectory.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_168" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kalmanMeasurementNoise">
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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>5</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>0.010000000000000</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="QDoubleSpinBox" name="doubleSpinBox_kalmanProcessNoise">
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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>5</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>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.001000000000000</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_674">
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<property name="text">
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<string>Process noise.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_675">
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<property name="text">
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<string>Measurement noise.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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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<spacer name="verticalSpacer_43">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>1953</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_46">
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<layout class="QVBoxLayout" name="verticalLayout_81">
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<item>
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