preferencesDialog 0 0 976 747 0 0 Preferences :/images/RTAB-Map.ico:/images/RTAB-Map.ico 0 160 0 QAbstractItemView::NoEditTriggers false 0 true 0 0 673 2747 0 0 0 QFrame::Raised 19 General Settings (GUI) true Use time for figures' x-axis. Otherwise, sensor data IDs are used for camera/odometry info and for all mapping statistics, node IDs are used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Insert created clouds in the GUI cache to avoid regenerating clouds on export. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Notify when a new global path is received. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true true Cache statistics. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Beep! on special events (finished processing the data set, an error has occured, ...). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Insert new data received in the GUI cache. Used to show the loop closure image and the 3D Map. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Disable odometry. This option only makes sense in localization mode with a pre-built map and that odometry cannot be computed from the source selected (e.g. RGB source). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse When a ground truth is provided, align the map with it. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Loop Closure Detection true Show the image of the highest hypothesis. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Show image when an hypothesis is rejected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Vertical layout. false Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Show loop closure hypotheses on the graph view. Nodes are colorized from blue to red depending on the highest hypothesis (which is red). Posterior hypotheses should be published. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Odometry Show only inliers. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Warning theshold: Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -> General -> Odom inliers. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 50 Save/Load Settings Load settings (*.ini) ... Save settings (*.ini) ... Reset all settings Qt::Horizontal 40 20 Qt::Vertical 0 0 3D Rendering Point Cloud Map Qt::AlignCenter true Odometry Qt::AlignCenter true true true Show 3D clouds. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -32 32 1 Decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 1.000000000000000 0.100000000000000 1.000000000000000 2 1.000000000000000 0.100000000000000 1.000000000000000 Opacity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Point size (1..64). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 1.000000000000000 0.050000000000000 0.000000000000000 -32 32 1 m 1 100.000000000000000 0.100000000000000 4.000000000000000 m 1 100.000000000000000 0.100000000000000 0.000000000000000 Maximum depth (0 means no limit). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1 100.000000000000000 0.100000000000000 0.000000000000000 m 1 0.000000000000000 100.000000000000000 0.100000000000000 0.000000000000000 Minimum depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ROI ratios [left right top bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 -10.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 m 3 1.000000000000000 0.010000000000000 0.000000000000000 1 64 2 1 64 2 Floor filtering height (0=Disabled). This is done in /map frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Noise filtering min neighbors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Noise filtering radius (0=disabled). Done after voxel filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1000 5 Ceiling filtering height (0=Disabled). This is done in /map frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Voxel filtering size (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 -10.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 0 1000 10 Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Organized Online Meshing true Angle tolerance Quad pix 2 99 Triangle size true deg 0 1.000000000000000 99.000000000000000 15.000000000000000 Texture true Laser Scan 1 64 Scan point size (1..64). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 1.000000000000000 0.010000000000000 0.000000000000000 true Scan opacity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 64 1 9999 true 1 9999 2 1.000000000000000 0.100000000000000 1.000000000000000 Scan voxel size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 1.000000000000000 0.100000000000000 1.000000000000000 Scan downsampling step size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 1.000000000000000 0.010000000000000 0.000000000000000 Odometry true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ceiling filtering height (0=Disabled). This is done in /map frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Floor filtering height (0=Disabled). This is done in /map frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 -10.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 m 3 -10.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 1000 10 Miscellaneous Show graphs. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true true true 1 64 true Show 3D features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show labels. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 64 Feature point size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show frustums. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Qt::Vertical 0 0 Node Filtering false false For visualization purpose, superposed clouds can be filtered by one of the approaches below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse No filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false m 0.010000000000000 0.100000000000000 Radius. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0 180.000000000000000 30.000000000000000 Angle. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Cloud subtraction filtering. When a new cloud is added to the map, its points are subtracted from the previous cloud. Qt::PlainText true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Pose filtering. By comparing poses in the same area, only one cloud in a fixed radius and angle is shown. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false 0.010000000000000 1.000000000000000 0.010000000000000 0.020000000000000 Point radius used to find close points between the current cloud and the previous one. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0 180.000000000000000 30.000000000000000 Point angle used to keep only points with similar normal between the current cloud and the previous one. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 Minimum points of the previous cloud in the fixed point radius in order to substract the point in the new cloud. Increasing this value reduces the black contours between clouds. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1625 Grid Map Assembling false false When the Graph View is visible or if the "Show in 3D map view" below is checked, the grid map is assembled using occupancy grids saved in each node. See Occupancy Grid (advanced) panel for parameters used to create the local occupancy grids. If nodes don't have local occupancy grid created, use the Database Viewer tool to generate them. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Show in 3D map view. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Opacity. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.010000000000000 1.000000000000000 0.050000000000000 0.750000000000000 OctoMap (3D Occupancy Grid Map) true false Occupancy threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.050000000000000 0.500000000000000 Octomap maximum tree depth (max 16). The highest depth means the smallest resolution of the map (cell size). At smallest resolution the octomap shows RGB colors. Other resolutions produce z-axis gradient colored octomap. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 16 16 1 99 5 Full update. When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Cube rendering. Warning: this requires significant more GPU power. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show in 3D map view. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Point size. When cube rendering is disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2D grid map created from OctoMap. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Qt::Vertical 20 1375 Logging Logger level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR 3 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR Logger event sent level (fatal messages are always sent). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR FATAL Logger level on which the process will automatically pause, showing the log console. A level set under the logger event level will do nothing. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Logger print time. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 QComboBox::AdjustToContents No log Console File Logger type: when using the file type, logs are saved in LogRtabmap.txt (located in the working directory). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Logger print thread ID. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false -1 QComboBox::AdjustToContents Logger thread filter. If some threads are selected, only messages from these threads will be printed. If no thread is selected, then all messages are logged. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 Source Input rate (0 means as fast as possible). Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Local transform from /base_link to /camera_link. Mouse over the box to show formats. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Source type. Select specific driver below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ID of the device, which might be a serial number, bus@address or the index of the device. If empty, the first device found is taken. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Create a calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of the source of images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 100 0 Hz 1 100.000000000000000 0.100000000000000 0.000000000000000 Mirroring mode (flip image horizontally). It has no effect on database source. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0</p></body></html> 0 0 1 -1 0 0 0 -1 0 QComboBox::AdjustToContents RGB-D Stereo RGB Database 0 0 Test 0 0 Calibrate Calibration files are saved in "camera_info" folder of the working directory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 Create Calibration Calibration file path (*.yaml). If empty, the GUID of the camera is used (for those having one). OpenNI and Freenect drivers use factory calibration by default (so they ignore this parameter). A calibrated camera is required for RGB-D SLAM mode. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Image decimation. RGB/Mono and depth images will be resized according to this value (size*1/decimation). Note that if depth images are captured, decimation should be a multiple of the depth image size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0 RGB-D false false Grabber for RGB-D devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live). true QComboBox::AdjustToContents OpenNI-PCL Freenect OpenNI-CV OpenNI-CV-ASUS OpenNI2 Freenect2 RealSense Images Driver true Only RGB images are published. true false 7 0 0 OpenNI Path to a *.ONI file. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 ... Qt::Vertical 20 0 Qt::Vertical 20 0 Qt::Vertical 20 0 0 0 OpenNI 2 true Auto white balance. true true Auto exposure. true 65535 Exposure. true Qt::Vertical 20 0 1000 100 Gain. true false Mirroring. true Path to a *.ONI file. true ... Use timestamps and frame IDs from OpenNI2. true false 0 0 Freenect2 Format. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 QComboBox::AdjustToContents Registered Color to Depth SD Registered Depth to Color SD (old way) Registered Depth to Color HD Registered Depth to Color HD (old way) IR + Depth Depth bilateral filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Min depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Depth edge aware filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 65.000000000000000 12.000000000000000 true true Max depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 64.000000000000000 0.100000000000000 0.300000000000000 true Depth noise filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 RealSense Qt::Vertical 20 0 Preset for RGB stream. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Best Quality Largest Image Highest Framerate Preset for depth stream. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Best Quality Largest Image Highest Framerate Use visual inertial odometry for ZR300. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false 0 0 RGB-D Images Path to directory containing RGB images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Depth scale factor (depth = pixel value / factor). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Path to directory containing depth images. The directory should have the same size has the RGB directory. The depth images should be already registered to RGB images. Assume that UINT16 images are in mm and FLOAT32 images are in m. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse For RGBD-SLAM datasets, it is 5. 3 1.000000000000000 999999.000000000000000 Qt::Vertical 20 0 Stereo false false Grabber for stereo devices (i.e., Bumblebee2, Zed camera). true QComboBox::AdjustToContents DC1394 FlyCapture2 Images Video ZED sdk Usb camera (Side-by-Side) Driver. true Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab. true 4 Qt::Vertical 20 0 Qt::Vertical 20 0 0 0 Stereo Images ... Qt::Vertical 20 0 Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to directory containing left images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to directory containing right images. The directory should have the same size has the left images directory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 0 0 Stereo Video (*.avi, *.mp4) ... Side-by-Side (SBS) video or left video. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Right video. Should be empty if a SBS video is set above. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 0 0 Zed sdk Qt::Vertical 20 13 Path to a *.SVO file. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse HD2K HD1080 HD720 VGA Sensing mode. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse STANDARD FILL NONE PERFORMANCE MEDIUM QUALITY Filtering value for the disparity map (and by extension the depth map). A lower value means more confidence and precision (but less density), an upper value reduces the filtering (more density, less certainty). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 100 Resolution. Not used when a SVO file is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Quality. If NONE, the disparity is not computed on the GPU, but on CPU using OpenCV (see StereoBM panel for parameters). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use ZED visual odometry. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Self-Calibration. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 217 RGB false false Source type. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 Usb camera Images Video file Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 Qt::Vertical 0 0 Images Dataset false Refresh the directory files list after each image loaded. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Start position (default 1, 0=start from the last). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999999 ... Qt::Vertical 0 0 Video (AVI) false ... Qt::Vertical 0 0 Database false false Ignore goals saved in the database. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Open database viewer :/images/mag_glass.png:/images/mag_glass.png Qt::Vertical 20 0 ... Start position (index) Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 99999 Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ignore goal delay. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use database stamps as input rate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -1 9999 Camera index. If the database contains multi-camera data, you can choose which camera to use. -1 means that all cameras are streamed. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Directory of images (optional settings) 0 Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry file. Select the correct format below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Ground truth file. Select the correct format below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ground truth format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum laser scan points. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Synchronize capture rate with timestamps. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... <html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)</p></body></html> QComboBox::AdjustToContents Raw RGBD-SLAM KITTI TORO g2o NewCollege Malaga Urban St Lucia Stereo Karlsruhe ... <html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0</p></body></html> 0 0 0 0 0 0 Local transform from /base_link to /scan_link. Mouse over the box to show formats. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>KITTI: 130 000 points</p></body></html> 99999999 Bayer mode. For convenience, if the images are bayered. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Disabled BG GB RG GR Odometry format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)</p></body></html> QComboBox::AdjustToContents Raw RGBD-SLAM KITTI TORO g2o NewCollege Malaga Urban St Lucia Stereo Karlsruhe ... Generate depth image from laser scan true false Interpolate depth values to fill holes true Vertically true Horizontally Fill holes from the image border. Depth Image Filtering ... 100 0 Open database viewer :/images/mag_glass.png:/images/mag_glass.png Distortion model (output from depth calibration). true Bilateral Filtering of the Depth Image true 4 0.000100000000000 1.000000000000000 0.001000000000000 0.005000000000000 Standard deviation of the Gaussian for the intensity difference. Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.100000000000000 100.000000000000000 1.000000000000000 5.000000000000000 Size of the Gaussian bilateral filter window to use. Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Laser scans false false If you want to use ICP registration, the sensor data should have laser scan. Laser scans can be created from the depth images (see option below) or loaded from the source selected. These parameters can be used to reduce the point cloud size directly in the capturing thread. true Generate laser scan from depth image true false 99999 1 Decimation (should be a multiple of the image size). Note that it is done after general image decimation above. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 9999.000000000000000 Maximum depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>KITTI: 130 000 points</p></body></html> 0 99999999 0 Downsample step size for laser scans. If your laser scans are created from depth images, use Decimation above instead (faster). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>KITTI: 130 000 points</p></body></html> m 3 0.010000000000000 <html><head/><body><p>KITTI: 130 000 points</p></body></html> 1 99999999 Voxel size for uniform sampling. Note that it is done after downsampling. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse K nearest neighbors for normals computation (0=disabled, 20 can be a good default value). Useful if the ICP registration approach is point to plane. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 RTAB-Map Settings Hz 3 1.000000000000000 true SLAM mode. If set to false, global localization is performed, so without adding new data to the map. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Activate metric RGB-D SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Publish statistics. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Detection rate (0 means inf). RTAB-Map will filter input images to satisfy this rate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 1 Images buffer size (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ms 0 10000.000000000000000 50.000000000000000 700.000000000000000 T_time : Max time (ms) allowed (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.010000000000000 0.950000000000000 T_loop : Loop closure threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.200000000000000 T_similarity : Similarity threshold (for Rehearsal/Weight Update). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 9999 15 STM size : Short-term memory size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 RTAB-Map Settings true SLAM mode. If set to false, global localization is performed, so without adding new data to the map. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Detection rate (0 means inf). RTAB-Map will filter input data to satisfy this rate. If you want to process all data, consider set "Detection rate" to 0 and "Data buffer size" to 0. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 1 Start a new map only if there is a global loop closure detected first with a previous map. If there is no map in memory, a new map is still created. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Data buffer size (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Hz 3 1.000000000000000 Create intermediate nodes if odometry is faster than the detection rate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Thresholds ms 0 10000.000000000000000 50.000000000000000 700.000000000000000 T_time : Max time (ms) allowed (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 99999 0 Maximum signatures allowed in Working Memory (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.010000000000000 0.950000000000000 T_loop : Loop closure threshold. Setting to 0 means that the new place hypothesis is used as threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.010000000000000 0.700000000000000 T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Publish statistics (stuff to be shown in the GUI) true true Publish signature data. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Publish loop closure hypotheses (pdf). Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Publish loop closure likelihood. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Log statistics (LogI.txt and LogF.txt) in the working directory. true true Statistics logs buffered in RAM and written to hard drive on exit (otherwise logs are written at each iteration on hard drive). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Add headers (column names) to log files. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Working directory (where to put logs/dump stuff). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... true Qt::Vertical 0 0 Memory 1 9999 15 Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 50 0 1.000000000000000 0.010000000000000 0.200000000000000 Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 1 2 Bad signatures are ignored. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false false Create map labels. The first node of a map will be labelled as "map#" where # is the map ID. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false 50 0 1 9999 Raw descriptors kept in memory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Image pre decimation. This option can be used to reduce image size before features extraction. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse True=Generate location Ids, False=use input image ids. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum locations retrieved at the same time from LTM to WM. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true true Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -16 16 STM size : Short-term memory size. false Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Image post decimation. This option can be used to save images in lower resolution (size/decimation). It is done on the original image. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse On transfer, signatures are sorted by weight->ID (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If > 1, downsample the laser scans when creating a location. This feature can be used to save laser scans already downsampled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false -16 16 50 0 0 99 0 If > 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Multi-threaded compression. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Save intermediate node data. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Rehearsal / Weight Update T_similarity : Similarity threshold. Values must be >=0.0 ans <=1.0. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.200000000000000 On merging, update to new id. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ignore Weight Update when the robot is moving. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Vocabulary false Use odometry features. Disable to select different feature type. Note that if no features are received, they will be re-extracted (if visual odometry is used, you may want to match the feature type below with the one used for odometry). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Features Extraction 0 means that the response (hessian) threshold used for the detector will not be adapted. Otherwise, the threshold is modified to generate the number of words requested. Maximum words per image (0=no maximum). Setting to -1 will disable features extraction, so disabling loop closure detection indirectly. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 means that the response (hessian) threshold used for the detector will not be adapted. Otherwise, the threshold is modified to generate the number of words requested. Bad signature ratio (less than Ratio x AverageWordsPerImage = bad). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Top ROI ratio (0 = no change). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.000000000000000 1.000000000000000 0.050000000000000 0.250000000000000 0 means that the response (hessian) threshold used for the detector will not be adapted. Otherwise, the threshold is modified to generate the number of words requested. Minimum words depth. Only used when a depth image is provided. Applied before "Maximum words per image". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ROI ratios [left, right, top, bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF BRISK GFTT+ORB FREAK 0 means that the response (hessian) threshold used for the detector will not be adapted. Otherwise, the threshold is modified to generate the number of words requested. Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse % 0 Visual word type. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 99.000000000000000 1.000000000000000 0.000000000000000 -1 2000 150 % 0 Left ROI ratio (0 = no change). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Right ROI ratio (0 = no change). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse % 0 % 0 Bottom ROI ratio (0 = no change). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 99.000000000000000 1.000000000000000 0.000000000000000 Sub Pixel Refining Refining features to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 5 Window size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 20 Iterations. 0 disables sub pixel refining. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.001000000000000 0.100000000000000 0.010000000000000 0.030000000000000 Epsilon. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Features Quantization ... NNDR ratio (A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor) Lower the ratio -> higher the precision. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.010000000000000 1.000000000000000 0.100000000000000 0.700000000000000 Path to a pre-computed dictionary (when "Use an incremental vocabulary" is not set). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Nearest neighbor strategy. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents FLANN Linear FLANN KdTree FLANN LSH Brute Force Brute Force GPU Use an incremental vocabulary. When set to false, no new words are added to dictionary, so no more updates are required after each detection, which greatly increases time performance at the cost of lower adaptation to new environments. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If the dictionary update and signature creation were parallelized. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true true When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse When using a FLANN-based nearest neighbor strategy, add/remove points to its index without always rebuilding the index (the index is built only when the vocabulary doubles in size). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Qt::Vertical 0 0 Database true Keep sensor compressed data. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 10 999999 100 2000 Sqlite3 cache size, see Sqlite3 doc 'PRAGMA cache_size'. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse DELETE TRUNCATE PERSIST MEMORY OFF Sqlite3 journal mode, see Sqlite3 doc 'PRAGMA journal_mode'. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Sqlite3 synchronous, see Sqlite3 doc 'PRAGMA synchronous'. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Sqlite3 temp store, see Sqlite3 doc 'PRAGMA temp_store'. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 OFF NORMAL FULL DEFAULT FILE MEMORY Keep not linked nodes in db (rehearsed nodes and deleted nodes are saved). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Qt::Vertical 0 0 Loop Closure Detection Prediction probabilities for each loop closure event: Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse We can edit how will like the prediction used in the Bayes filter when there is a loop closure hypothesis. Format is [VP LC N1 N2 N3...]. LC is the loop closure event and N# are its neighbors. VP (virtual place) is the probability to be in a new place when a loop closure was found on the last iteration. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Prediction Sum false Preview 1.000000000000000 0.010000000000000 0.900000000000000 The VP here is the probability to be in a new place since no loop closure was found on the last iteration. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use the tf-idf method to compute the likelihood. Otherwise, images are compared with each other. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 0 0 Hypothesis Verification QComboBox::AdjustToContents No verification Epipolar constraints Hypothesis verification. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Epipolar Constraints 8 100000 11 Minimum match count to accept a loop closure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 10.000000000000000 0.100000000000000 3.000000000000000 Fundamental Matrix : Distance (pixels) for inliers. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.990000000000000 0.010000000000000 0.990000000000000 Fundamental Matrix : Ransac performance. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 RGB-D SLAM false Activate metric RGB-D SLAM. This module enables 6d metric SLAM directly in RTAB-Map. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to graph and the graph optimizer optimizes the graph. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map Update Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link (odometry) with the previous node is refined using ICP registration approach (laser scans required). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1.000000000000000 Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 1.000000000000000 0.100000000000000 0.100000000000000 m 3 0.100000000000000 Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse rad 2 3.140000000000000 0.100000000000000 m 1 99.000000000000000 0.100000000000000 1.000000000000000 Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ratio of working memory for which local nodes are immunized from transfer. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Re-extract visual features when computing loop closure transformations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Proximity Detection Proximity Detection in Time true Activate proximity detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. This generates more constraints in the map's graph, so more time is required to optimize the graph. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Proximity Detection in Space true Activate proximity detection over locations (in Working Memory) near in space. The locations are compared to those inside the local radius of the current estimated position of the robot (at a maximum distance of the path filtering radius below). If the laser scans are used, local locations are merged together and the current laser scan is compared to them. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.100000000000000 1.000000000000000 When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path filtering radius to avoid merging laser scans which are close. 0 to ignore. A path should also be inside that radius to be considered for proximity detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 0 Maximum graph depth between the current/last loop closure location and the proximity hypotheses. Set 0 to ignore. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Save scan matching IDs in link's user data. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum angle for visual proximity detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0 360.000000000000000 10.000000000000000 Maximum paths compared (from the most recent). 0 means no limit. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 0 Maximum neighbor nodes compared on each path. Set to 0 to disable merging close scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 0 Qt::Vertical 20 1396 Graph Optimization TORO g2o GTSAM Graph optimization algorithm. See Optimizer panel. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Robust graph optimization using Vertigo (only for g2o and GTSAM optimization strategies). This approach can filter wrong loop closure detections. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 100.000000000000000 1.000000000000000 1.000000000000000 Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph. It should not be used at the same time than Vertigo above. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Horizontal Optimize graph from the newest node. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -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. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -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). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 17 2098 Local Occupancy Grid false m 3 1.000000000000000 0.050000000000000 0.000000000000000 m 2 -99999.000000000000000 0.000000000000000 0.010000000000000 -0.050000000000000 Footprint filtering height (0=disabled). Footprint length and width should be set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 9999.000000000000000 m 2 99999.000000000000000 0.010000000000000 Noise filtering min neighbors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum ground height (0=disabled). Should be set if Normals Segmentation Approach is checked below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum obstacles height (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1000 5 m 0.010000000000000 1.000000000000000 0.050000000000000 Laser scan decimation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 100 1 Footprint filtering length (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Footprint filtering width (0=disabled). Footprint length should be set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 10.000000000000000 0.100000000000000 0.000000000000000 m 2 10.000000000000000 0.100000000000000 0.000000000000000 Minimum ground height (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Resolution (cell size). Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Noise filtering radius (0=disabled). Done after segmentation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 10.000000000000000 0.100000000000000 0.000000000000000 false Create local occupancy grid maps. This should be enabled to generate a global occupancy grid map. A cloud will be created from the depth image (see option below) or the 3D laser scan. This cloud will be segmented into ground and obstacle cells. For 2D laser scan, the occupancy grid is created using 2D ray casting (only Resolution and 2D Laser Scan related parameters are used). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false From Depth Image true Use depth image for cloud projection instead of laser scan. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -32 32 4 Image Decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1 100.000000000000000 0.100000000000000 0.000000000000000 Minimum depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1 100.000000000000000 0.100000000000000 4.000000000000000 Maximum depth (0 means no limit). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true ROI ratios [left, right, top, bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2D ray tracing is done for each projected obstacle (when 3D is not checked below), filling unknown space between the sensor and obstacles. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Normals Segmentation Approach true In this approach, the ground of the 3D cloud is segmented using the point normals instead of a passthrough filter. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0 0.000000000000000 180.000000000000000 30.000000000000000 1 10000 20 Maximum angle between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum cluster size to project the points. The distance between clusters is defined by 2*Resolution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Flat obstacles detected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false 3 1000 20 K neighbors to compute normals. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Cluster radius. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 0.001000000000000 1.000000000000000 0.010000000000000 0.100000000000000 3D true A 3D occupancy grid is required if you want an Octomap. Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ground segmentation (Normals Segmentation Approach) is ignored, all points are obstacles. Use this only if you want an Octomap with ground identified as an obstacle (e.g., with an UAV). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 2D Laser Scan Ray Tracing These parameters only affect 2D occupancy grid created from 2D laser scan (when "From Depth image" is not checked and laser scan is 2D). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Unknown space filled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1 1.000000000000000 6.000000000000000 Unknown space filled maximum range. If 0, the laser scan maximum range is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1177 Global Occupancy Grid false false Full update. When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Erode obstacle cells. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Footprint radius used to clear all obstacles under the graph. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false m 0.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 Minimum map size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0 0.000000000000000 9999.000000000000000 10.000000000000000 0.000000000000000 Qt::Vertical 20 2473 Path Planning If the goal is too far (>local radius) from the graph, the plan is aborted. The next goal in the graph can't be farther than the local radius around the current position. Anticipated nodes on the path are retrieved in the local radius up to "Maximum local locations retrieved". A virtual link is added between the current location and the nearest one on the path up to local radius. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1.000000000000000 Goal reached radius. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Mark the current goal node on the path as unreachable if it a new goal is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 m/s 0.100000000000000 0.000000000000000 rad/s 10.000000000000000 0.000000000000000 Linear velocity used to compute path weights based on time instead of distance (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Angular velocity used to compute path weights based on time instead of distance. Paths with poses in the same direction of the robot will have lower costs (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1529 Odometry Odometry is computed as fast as possible up to "Source->Input rate" parameter. Odometry is not computed if already provided by the source. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Guess based on previous motion. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Geometry] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry strategy. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Frame to Map Frame to Frame Align odometry with ground on initialization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999999 Test odometry Fill info with data (inliers/outliers features to be shown in Odometry view). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Data buffer size (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset). When reset, the odometry starts from the last pose computed. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Decimation of images before features extraction. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -32 32 QComboBox::AdjustToContents No filtering Kalman filtering Particle filtering 1.000000000000000 0.100000000000000 0.000000000000000 Pose estimation filtering strategy. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.100000000000000 0.500000000000000 999999 Registration approach. Default means the same registration approach used in Motion Estimation panel (same used by the loop closure detector). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 QComboBox::AdjustToContents Visual Geometry (ICP) Visual + Geometry [Default] [Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 100 0 Frame to Map The approach maintains a local map of features to match to. It adds incrementally new points to local map up to maximum map size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 0 [Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the laser scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Geometry] Maximum local scan map size (points). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] Maximum map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum features. This will decrease odometry drifting when the camera is not moving. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999999 1 0 [Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 0.025000000000000 999999999 [Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Disabled g2o cvsba 999999 Qt::Vertical 20 0 Frame to Frame Motion is computed with a frame to key-frame approach. See Motion Estimation panel for registration parameters. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 Mono Mono is for single camera motion estimation (MonoSLAM). On initialization, the camera must be translated on the side until a first transform can be computed. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Parameters from BOW and OpticalFlow are also used here. PnP parameters on Odometry panel are used too. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pixels 0 1000.000000000000000 10.000000000000000 100.000000000000000 Minimum optical flow required for the initialization step. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.000000000000000 0.010000000000000 0.020000000000000 Minimum translation to add new points to local map. On initialization, translation x 5 is used as the required minimum transformation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum translation required for the initialization step. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.000000000000000 0.010000000000000 0.100000000000000 Maximum variance to add new points to local map. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.000000000000000 0.001000000000000 0.010000000000000 1 Kalman Filter Parameters for the Kalman filter when used to smooth the odometry trajectory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 5 0.000000000000000 1.000000000000000 0.010000000000000 0.010000000000000 5 0.000000000000000 1.000000000000000 0.001000000000000 0.001000000000000 Process noise. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Measurement noise. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Particle Filter Parameters for the particle filter when used to smooth the odometry trajectory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.000000000000000 1000.000000000000000 1.000000000000000 15.000000000000000 rad 3 0.001000000000000 1.000000000000000 0.010000000000000 0.005000000000000 m 3 0.001000000000000 1.000000000000000 0.010000000000000 0.050000000000000 Noise of translation components (x,y,z). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Noise of rotation components (roll, pitch, yaw). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Lambda of translation components (x,y,z). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Lambda of rotation components (roll, pitch, yaw). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.000000000000000 1000.000000000000000 1.000000000000000 15.000000000000000 Particle size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 10000 400 true Qt::Vertical 20 0 Motion Estimation Visual Geometry (ICP) Visual + Geometry For the parameters for each registration approach, see the sub panels. Approaches with '+' means that both registrations are done in that order. true Force 2D transform (3DoF: x,y and yaw). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Normalize covariance values. Position variances are multiplied by norm of the transform and orientation variances are multiplied by angle of the transform. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1221 Visual Registration 1 10000 1 100 Maximum RANSAC iterations. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContentsOnFirstShow 3D to 3D 3D to 2D (PnP) 2D to 2D 0 0 QComboBox::AdjustToContentsOnFirstShow Features Matching Optical Flow Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Correspondences computation approach. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1000 10 Motion estimation approach using 3D and/or 2D visual words correspondences. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Set variance as the inverse of the number of inliers. Otherwise, the variance is computed as the average 3D position error of the inliers. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum correspondences to accept the estimated transformation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContentsOnFirstShow Disabled g2o cvsba Refine transformation with bundle adjustment. See Optimizer panel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0 Correspondences Computation: Features Matching Nearest neighbor strategy. FLANN LSH must be used only with binary feature detector. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pixels 0 1000 16 2 0.010000000000000 1.000000000000000 0.100000000000000 0.700000000000000 3 QComboBox::AdjustToContents FLANN Linear FLANN KdTree FLANN LSH Brute Force Brute Force GPU NNDR ratio (A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor) Lower the ratio -> higher the precision. 0 means disabled, matching the nearest. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Matching window size around projected points when a guess transform is provided to find correspondences. 0 means that global matching will be done. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 0 Correspondences Computation: Optical Flow 1 999999 1 21 Window size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 3 Iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Epsilon. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999999 1 30 Max level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.001000000000000 1.000000000000000 0.010000000000000 0.010000000000000 Qt::Vertical 20 0 2 0 0 Motion estimation: 3D to 3D m 3 0.001000000000000 0.010000000000000 0.020000000000000 Maximum distance accepted between visual word correspondences. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10000 1 10 Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 Motion Estimation: 3D to 2D (PnP) pix 1 0.100000000000000 1.000000000000000 8.000000000000000 Reprojection error. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Iterative EPNP P3P Flags. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Refine iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 1 0 0 2D to 2D (Epipolar Geometry) Experimental! PnP parameters are also used here. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 0.000000000000000 0.001000000000000 0.020000000000000 Epipolar geometry maximum variance to accept the loop closure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Visual Feature false false The features are not extracted if the compared nodes have already features extracted. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum feature depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ROI ratios [left right top bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999999 Max features extracted from the images (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum feature depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 QComboBox::AdjustToContents SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF BRISK GFTT+ORB FREAK m 0.000000000000000 5.000000000000000 Feature detector Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.000000000000000 5.000000000000000 Sub Pixel Refining Refining corners to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 5 Window size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 20 Iterations. 0 disables sub pixel refining. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.001000000000000 0.100000000000000 0.010000000000000 0.030000000000000 Epsilon. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 Qt::Vertical 20 40 ICP Registration Iterative closest point (ICP) parameters. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Downsampling step of the cloud. Set to 1 to disable. This is done before uniform sampling. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Max distance for point correspondences. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum ICP translation correction accepted (>0). A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 1.000000000000000 0.010000000000000 0.700000000000000 Ratio of matching correspondences to accept the transform. If the maximum laser scans is set, this is the minimum ratio of correspondences on laser scan maximum size to accept the transform. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Number of neighbors to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1000 20 Uniform sampling voxel size. Set to 0 to disable. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999999 1 1 m 3 0.000000000000000 0.010000000000000 0.005000000000000 Max iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1000 10 m 2 1.000000000000000 0.010000000000000 0.200000000000000 Maximum ICP rotation correction accepted (>0). A large rotation difference between the visual transformation and ICP transformation results in wrong transformations in most cases. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse rad 2 3.140000000000000 0.010000000000000 0.780000000000000 3 0.010000000000000 0.010000000000000 0.100000000000000 Point to plane ICP. Only for ICP 3D. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 4 0.000000000000000 1.000000000000000 0.010000000000000 0.000000000000000 Qt::Vertical 20 40 Optimizer 0 10000 100 5 0.000000000000000 1.000000000000000 0.001000000000000 0.001000000000000 Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Stop optimizing when the error improvement is less than this value. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Iterations. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse g2o CSparse PCG Cholmod Eigen Solver. true Levenberg Gauss Newton Optimization algorithm. true Bundle Adjustement 2 0.010000000000000 999.000000000000000 0.001000000000000 0.010000000000000 Pixel variance used for bundle adjustment. true 3 0.000000000000000 999.000000000000000 1.000000000000000 5.991000000000000 Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Observations with chi2 over this threshold will be ignored in the second optimization pass. true m 4 0.000000000000000 9.000000000000000 0.010000000000000 0.075000000000000 When doing bundle adjustment with RGB-D data, we can set a fake baseline to do stereo bundle adjustment (if 0, mono bundle adjustment is done). For stereo data, the baseline in the calibration is used directly. true GTSAM Levenberg Gauss Newton Dogleg Optimization algorithm. true Qt::Vertical 20 2185 Stereo These parameters are used to find the 3D positions of visual words using disparity between the left and right images. Optical flow can be used to find corresponding corners in the right image of words extracted from the left image. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Window height. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum disparity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 999999 1 21 Window width. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 0 Maximum iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 999999 1 21 1 999999 1 30 4 0.000100000000000 0.100000000000000 0.010000000000000 0.010000000000000 [OpticalFlow = true] Epsilon stop criterion. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum pyramid level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 3 [OpticalFlow = false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum disparity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999999 1 30 Qt::Vertical 20 464 StereoBM Stereo correspondence using the block matching algorithm (cv::StereoBM), introduced and contributed to OpenCV by K. Konolige. This approach is used to construct a dense disparity image for visualization (RGB-D point clouds) or to create a depth image when acquiring from a stereo source. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999999 1 21 0 999999 1 21 1 999999 1 21 Pre-filter Size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum disparity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Texture threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Pre-filter Cap. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 21 Number of disparities. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Block size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 21 3 999999 1 21 1 999999 1 21 Uniqueness ratio. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999999 1 21 0 999999 1 21 Speckle window size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Speckle range. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1375 Feature Parameters for each corresponding OpenCV feature type. See the sub panels. Qt::Vertical 20 1197 SURF true Octave layers. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Descriptor extended (true=128, false=64). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true GPU keypoints ratio. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true GPU version. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 100000 4 true U-SURF used. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.010000000000000 0 50000.000000000000000 500.000000000000000 1 100000 2 Octaves. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Hessian threshold. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 SIFT Sigma. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000000000000000 50000.000000000000000 0.001000000000000 0.006667000000000 Contrast threshold. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Edge threshold. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.100000000000000 10.000000000000000 0.100000000000000 10.000000000000000 nOctaveLayers. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse nFeatures. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 FAST false QFormLayout::AllNonFixedFieldsGrow 1 9999 50 Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true If true, non-maximum suppression is applied to detected corners (keypoints). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse OpenCV 2 1 9999 50 Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 9999 50 Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 9999 0 Grid rows (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 9999 0 Grid cols (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.010000000000000 0.050000000000000 Used with FAST GPU. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 BRIEF 1 1000 32 Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 660 ORB 1 1.200000000000000 Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 8 The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 31 This is size of the border where the features are not detected. It should roughly match the patchSize parameter. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 It should be 0 in the current implementation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 WTA_K: The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 31 size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 FREAK true Enable orientation normalization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Enable scale normalization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 22.000000000000000 Scaling of the description pattern. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 Number of octaves covered by the detected keypoints. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 GFTT 4 0.000100000000000 1.000000000000000 0.010000000000000 0.010000000000000 1 1.000000000000000 true Use Harris detector. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.010000000000000 0.040000000000000 K. Harris detector free parameter. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 Quality level. Parameter characterizing the minimal accepted quality of image corners. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue (see cornerMinEigenVal() ) or the Harris function response. The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure less than 15 are rejected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum possible Euclidean distance between the returned corners. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Block size. Size of an average block for computing a derivative covariation matrix over each pixel neighborhood. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 644 BRISK FAST/AGAST detection threshold score. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 10.000000000000000 0.100000000000000 1.000000000000000 Detection octaves. Use 0 to do single scale. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 10 3 Apply this scale to the pattern used for sampling the neighbourhood of a keypoint. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 30 Qt::Vertical 20 742 12 12 Qt::Horizontal QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults Basic true Advanced Qt::Horizontal QDialogButtonBox::Cancel|QDialogButtonBox::Ok UPlot QWidget

../include/rtabmap/utilite/UPlot.h

1 QMultiComboBox QComboBox

3rdParty/QMultiComboBox.h