mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added Mem/LaserScanVoxelSize and OdomF2M/ScanSubtractAngle parameters. util3d::computeNormalsComplexity() now returns PCA's eigen vectors and values optionally. RegistrationIcp: detecting complexity of environment when PointToPLane is used, if too low, PointToPoint is done and movements are limited to main direction of the normals.
This commit is contained in:
matlabbe
@@ -63,16 +63,25 @@
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@@ -4561,7 +4570,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -6040,6 +6058,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -6108,19 +6136,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.</string>
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@@ -6461,16 +6428,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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@@ -6484,34 +6441,139 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>If > 0 and laser scans don't have normals, normals will be computed with radius search when creating a signature.</string>
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||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
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<property name="text">
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||||
<string>Normal Radius. If > 0 and laser scans don't have normals, normals will be computed with radius search when creating a signature.</string>
|
||||
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|
||||
<property name="wordWrap">
|
||||
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|
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|
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||||
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|
||||
<property name="text">
|
||||
<string>Voxel size. If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use Normal K or Normal Radius parameters below.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxelSize">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_rehearsal2">
|
||||
<property name="title">
|
||||
@@ -10114,6 +10176,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_odom_f2m_scanMaxSize">
|
||||
<property name="maximum">
|
||||
<number>999999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_194">
|
||||
<property name="text">
|
||||
@@ -10140,14 +10209,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_odom_f2m_scanMaxSize">
|
||||
<property name="maximum">
|
||||
<number>999999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_357">
|
||||
<property name="text">
|
||||
<string>[Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel.</string>
|
||||
@@ -10160,7 +10222,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<item row="6" column="0">
|
||||
<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_358">
|
||||
<property name="text">
|
||||
<string>[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).</string>
|
||||
@@ -10173,7 +10242,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<item row="5" column="0">
|
||||
<widget class="QComboBox" name="odom_f2m_bundleStrategy">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
@@ -10195,10 +10264,32 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="odom_f2m_bundleMaxFrames">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_430">
|
||||
<property name="text">
|
||||
<string>[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when Radius above is >0). 0 means any angle.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_odom_f2m_scanAngle">
|
||||
<property name="suffix">
|
||||
<string> deg</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>999999</number>
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -12562,7 +12653,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
<widget class="QWidget" name="page_54">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_85">
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -12702,7 +12802,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_55">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_86">
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -12860,7 +12969,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -12940,7 +13058,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -13052,7 +13179,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user