mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added Optimizer/GravitySigma parameter (with GTSAM support).
This commit is contained in:
matlabbe
@@ -94,16 +94,25 @@
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@@ -2955,7 +2964,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -2979,6 +2988,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -3048,6 +3060,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -3058,6 +3073,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -4121,6 +4139,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -4175,6 +4196,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -4192,6 +4216,9 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -5164,7 +5191,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Directory of images (optional settings)</string>
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@@ -9646,21 +9682,21 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="5" column="0" rowspan="2">
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<item row="6" column="0" rowspan="2">
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<property name="text">
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<string>Optimize graph from the newest node.</string>
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@@ -9673,7 +9709,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
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@@ -9686,7 +9722,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
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@@ -9699,7 +9735,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>Ignore pose priors.</string>
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@@ -9712,14 +9748,21 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="5" column="1">
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<property name="text">
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<string>Ignore landmarks.</string>
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@@ -9732,11 +9775,39 @@ 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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<property name="text">
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<string>Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with GTSAM optimization strategy.</string>
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@@ -15939,7 +16010,16 @@ Lower the ratio -> higher the precision.</string>
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@@ -16019,7 +16099,16 @@ Lower the ratio -> higher the precision.</string>
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@@ -16131,7 +16220,16 @@ Lower the ratio -> higher the precision.</string>
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