preferencesDialog 0 0 1053 586 0 0 Preferences :/images/RTAB-Map.ico:/images/RTAB-Map.ico 0 180 0 QAbstractItemView::NoEditTriggers false 0 true 0 0 755 570 0 0 0 QFrame::Raised 4 General settings (GUI) true Keep images received. Used to show the loop closure image. (The cache can be cleared with the related action in the Edit menu). true 2 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR Logger level. true Logger print time. 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 Vertical layout used for the main window. false true Show image when an hypothesis is rejected. true Flip image (as like a mirror). false Logger event sent level (fatal messages are always sent). true 3 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR 4 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR FATAL Beep! on special events (finished processing the data set, an error has occured, ...). true 0 100 16 Qt::Horizontal Keypoints opacity. true Show the image of the highest hypothesis. true false 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 Save/load configurations Save all configurations to ... Load all configurations from ... Qt::Vertical 0 0 Source 1 100.000000000000000 0.100000000000000 1.000000000000000 Input rate (images/s, audio frames/s). Image source true 0 Usb camera Images Video file Source type. 0-Usb camera (Webcam), 1-Images (directory of images), 2-Video (AVI), 3-Database (RTAB-Map's database). true Auto restart. Image width (set to 0 to use the default size of the source). true Image height (set to 0 to use the default size of the source). true 0 999999999 160 0 0 999999999 120 0 Keypoints extraction post threatement. Frames dropped (ignore X frames after each frame acquired, used to decrease source framerate) true 0 999999999 1 0 1 Usb device -1 999999999 0 Usb device. Qt::Vertical 0 0 Images dataset ... false 0 999999999 Start position (default 1, 0=start from the last). Refresh the directory files list after each image loaded. Qt::Vertical 0 0 Video (AVI) ... false Qt::Vertical 0 0 Database source true false ... Start position (index) 0 999999999 Open database viewer :/images/mag_glass.png:/images/mag_glass.png Qt::Vertical 0 0 RTAB-Map settings true 0 10000.000000000000000 50.000000000000000 700.000000000000000 T_time : Max time (ms) allowed (0 means inf). true 1.000000000000000 0.010000000000000 0.950000000000000 T_loop : Loop closure threshold. true 0 50000.000000000000000 500.000000000000000 T_response : SURF hessian threshold. Images buffer size (0 means inf). true true Publish statistics. true ... Working directory (where the database is saved/loaded). true 999 1 T_similarity : Similarity threshold (for Rehearsal/Weight Update) for each sensor. Values must be >=0 and <=1.0. true 1 9999 15 STM size : Short-term memory size. true 1.000000000000000 0.200000000000000 Qt::Vertical 0 0 RTAB-Map settings true 999 1 Working directory (where the database is saved/loaded). true true Publish statistics (when false, this disables other "Publish *"). true T_time : Max time (ms) allowed (0 means inf). true Images buffer size (0 means inf). true 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 T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue. true 1.000000000000000 0.010000000000000 0.700000000000000 ... 999 1 2 Maximum locations retrieved at the same time from LTM to WM. true 0 10000.000000000000000 50.000000000000000 700.000000000000000 99999 0 Maximum signatures allowed in Working Memory (0 means inf). true Publish raw data (images). Publish pdf. Publish likelihood. true true true Ignore null values on likelihood normalization. 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 true Qt::Vertical 0 0 Bayes filter Prediction probabilities for each loop closure event: 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 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 Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated). true (NOTE) If you want to use the virtual place (VP) probability, the option "Common signature used" in the Memory panel must be set to true (this will update the common signature representing the virtual place). true Qt::Vertical 0 0 Memory strategy 1 9999 15 T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred. true Retrieved words are compared to the last words added in the dictionary (which are not yet indexed, may be add a time overhead for a minor likelihood improvement). true STM size : Short-term memory size. false true Incremental Memory. false 50 0 1.000000000000000 0.010000000000000 0.200000000000000 Qt::Vertical 0 0 Database true Keep raw data (images) . true 10 999999 100 2000 Sqlite3 cache size, see Sqlite3 doc 'PRAGMA cache_size'. true DELETE TRUNCATE PERSIST MEMORY OFF Sqlite3 journal mode, see Sqlite3 doc 'PRAGMA journal_mode'. true 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 Compress images when saving to database. true true Sqlite3 synchronous, see Sqlite3 doc 'PRAGMA synchronous'. true Sqlite3 temp store, see Sqlite3 doc 'PRAGMA temp_store'. true 2 OFF NORMAL FULL DEFAULT FILE MEMORY Qt::Vertical 0 0 Rehearsal / Weight Update T_similarity : Similarity threshold (rehearsal means or steady mean states for each sensor). Values must be >=0.0 ans <=1.0. true Only compare to the last signature in STM, otherwise all signatures in STM are compared. true The data of the new location is cleared, then old location's data is copied back to new one. The similarity threshold may be also lower than without data copied. true 1.000000000000000 0.200000000000000 Qt::Vertical 0 0 Keypoints Left ROI ratio (0 = no change). true If the dictionary update and signature creation were parallelized. true Bottom ROI ratio (0 = no change). true true Right ROI ratio (0 = no change). true Top ROI ratio (0 = no change). true % 0 % 0 % 0 % 0 Use the tf-idf method to compute the likelihood. true true SURF SIFT Keypoint descriptor. true true Keypoint detector. true ROI ratios [left, right, top, bottom]. true SURF SIFT Publish keypoints. true true 0 2000 150 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. Words per image target. true 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. Bad signature ratio (less than Ratio x AverageWordsPerImage = bad). true Qt::Vertical 0 0 SURF 0 50000.000000000000000 500.000000000000000 Hessian threshold. 1 100000 4 Octaves. 1 100000 2 Octave layers. false GPU version (as well for descriptor) - OpenCV must be compiled with CUDA from NVidia, otherwise, the application may crash if set. true U-SURF used. true Descriptor extended (true=128, false=64). true Qt::Vertical 694 545 SIFT Sigma. 6 0.000000000000000 50000.000000000000000 0.001000000000000 0.006667000000000 Contrast threshold. Edge threshold. 0.100000000000000 10.000000000000000 0.100000000000000 10.000000000000000 nOctaveLayers. nFeatures. Qt::Vertical 0 0 Dictionary QComboBox::AdjustToContents Naive KdForest FLANN Nearest neighbor strategy. true Use an incremental dictionary. 999.990000000000009 0.010000000000000 0.160000000000000 Minimum distance (for the nearest neighbor) Lower the distance -> higher the precision. false true 999.990000000000009 0.010000000000000 0.700000000000000 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 Use nearest neighbor distance ratio approach (NNDR). true Use a minimum distance for the nearest neighbor. true true Maximum number of leafs checked (when using kd-trees). true 1024 64 ... Path to a pre-computed dictionary (when "Use an incremental dictionary" is not set). true Qt::Vertical 0 0 0 0 Hypotheses verification QComboBox::AdjustToContents No verification Epipolar constraints Hypotheses verification. Qt::Vertical 0 0 Epipolar constraints 8 100000 11 Minimum match count to accept a loop closure. true 1 10.000000000000000 0.100000000000000 3.000000000000000 Fundamental Matrix : Distance (pixels) for inliers. true 2 0.990000000000000 0.010000000000000 0.990000000000000 Fundamental Matrix : Ransac performance. true Qt::Vertical 0 0 12 12 Qt::Horizontal QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults Basic true Advanced Qt::Horizontal QDialogButtonBox::Cancel|QDialogButtonBox::Ok UPlot QWidget

utilite/UPlot.h

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