preferencesDialog 0 0 1035 789 0 0 Preferences :/images/RTAB-Map.ico:/images/RTAB-Map.ico 0 160 0 QAbstractItemView::NoEditTriggers false 0 true 0 0 732 1198 0 0 0 QFrame::Raised 19 General settings (GUI) QFormLayout::AllNonFixedFieldsGrow true Insert new data received in the GUI cache. Used to show the loop closure image and the 3D Map. true Beep! on special events (finished processing the data set, an error has occured, ...). true Loop closure detection view Flip image (like a mirror). false true Show image when an hypothesis is rejected. true false Show the image of the highest hypothesis. true 0 100 16 Qt::Horizontal Keypoints opacity. true Vertical layout. false true 3D Map view 9999 50 Odometry 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 Save/load settings Load settings (*.ini) ... Save settings (*.ini) ... Reset all settings Qt::Horizontal 40 20 Qt::Vertical 0 0 3D Rendering Cloud filtering true false For visualization, superposed clouds are not shown. By comparing poses in the same area, only one cloud in a fixed radius and angle is kept. true m 0.010000000000000 0.100000000000000 Radius degrees 0 180.000000000000000 30.000000000000000 Angle Occupancy grid map false false When laser scans are used, a 2D grid map can be created. When the Graph view is visible or if the "Show in 3D map view" below is checked, the grid map is generated. true m 0.010000000000000 1.000000000000000 0.050000000000000 Resolution (cell size) Fill empty space true 0.750000000000000 1.000000000000000 0.750000000000000 Opacity false Show in 3D map view QFrame::StyledPanel QFrame::Raised 1 64 3D cloud decimation (1-2-4-8-...). true Map Qt::AlignCenter true Odometry Qt::AlignCenter true true true Show 3D clouds. true m 3 1.000000000000000 0.010000000000000 0.000000000000000 m 3 1.000000000000000 0.010000000000000 0.000000000000000 3D cloud voxel size. true 1 32 4 1 32 2 m 1 100.000000000000000 0.100000000000000 4.000000000000000 m 1 100.000000000000000 0.100000000000000 0.000000000000000 3D cloud maximum depth (0 means no limit). true 2 1.000000000000000 0.100000000000000 1.000000000000000 2 1.000000000000000 0.100000000000000 1.000000000000000 3D cloud opacity. true 1 64 1 64 3D cloud point size (1..64). true true true Show 2D scans. true 2 1.000000000000000 0.100000000000000 1.000000000000000 2 1.000000000000000 0.100000000000000 1.000000000000000 2D scan opacity. true 1 64 2D scan point size (1..64). true Sphere radius that is to be used for determining the k-nearest neighbors used for triangulating (GP3). Guidelines: 4 times the voxel size, 0.025 for voxel=0. true Mesh smoothing using Moving Least Squares algorithm (MLS). true m 3 1.000000000000000 0.010000000000000 0.040000000000000 m 3 1.000000000000000 0.010000000000000 0.040000000000000 Online meshing using Greedy Projection Triangulation (GP3). true MLS search radius: Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting. Guidelines: 4 times the voxel size, 0.025 for voxel=0. true false Set the number of k nearest neighbors to use for the normal estimation to create the mesh. Not used when mesh smoothing below is used. true 20 Qt::Vertical 20 40 Logging QFormLayout::AllNonFixedFieldsGrow 2 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR Logger level. true 3 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR Logger event sent level (fatal messages are always sent). true 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 true Logger print time. true 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::Vertical 20 40 Source Hz 1 100.000000000000000 0.100000000000000 10.000000000000000 Input rate (0 means as fast as possible). Image source true false 0 Usb camera Images Video file Source type. 0-Usb camera (Webcam), 1-Images (directory of images), 2-Video (AVI) true 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 0 Usb device Usb device. -1 999999999 0 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 Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed. true RGB-D camera true true Grabber for RGB-D devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live). true OpenNI-PCL true Feeenect OpenNI-CV OpenNI-CV-ASUS OpenNI2 Qt::Horizontal 40 20 QFormLayout::AllNonFixedFieldsGrow 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 0 0 0 -PI_2 0 -PI_2 Local transform from /base_link to /camera_link. Format (6 values): x y z roll pitch yaw. true Calibration Camera intrinsic parameters. While the default values are good, a calibration is recommended to increase the precision of the 3D clouds. Set values to 0 to use the default parameters from the camera. For example, the focal length is ~525 for Kinect and ~545 for Xtion Pro Live. The button "Calibrate" below can be used to calibrate the camera with a chessboard pattern. true QFormLayout::ExpandingFieldsGrow 1000.000000000000000 fx=K[0] 1000.000000000000000 fy=K[4] 1000.000000000000000 cx=K[2] 1000.000000000000000 cy=K[5] Calibrate Reset Qt::Horizontal 40 20 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 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 true Publish statistics. true Hz 1 1.000000000000000 Detection rate (0 means inf). RTAB-Map will filter input images to satisfy this rate. true 999 1 Images buffer size (0 means inf). true ms 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 1.000000000000000 0.200000000000000 T_similarity : Similarity threshold (for Rehearsal/Weight Update). true 1 9999 15 STM size : Short-term memory size. true Database path. true ... true Qt::Vertical 0 0 RTAB-Map settings QFormLayout::AllNonFixedFieldsGrow true SLAM mode. If set to false, global localization is performed, so without adding new data to the map. true Hz 1 1.000000000000000 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 Data buffer size (0 means inf). true 999 1 Thresholds QFormLayout::AllNonFixedFieldsGrow ms 0 10000.000000000000000 50.000000000000000 700.000000000000000 T_time : Max time (ms) allowed (0 means inf). true 99999 0 Maximum signatures allowed in Working Memory (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 1.000000000000000 0.010000000000000 0.700000000000000 T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue. true Publishing (stuff to be shown in the GUI) QFormLayout::AllNonFixedFieldsGrow true Publish statistics (when false, this disables other "Publish *"). true true Publish raw sensor data. true Publish pdf. See the probability density function true Publish likelihood. Statistics QFormLayout::AllNonFixedFieldsGrow true Statistics logs buffered in RAM and written to hard drive on exit (otherwise logs are written at each iteration on hard drive). true Log statistics (in LogI.txt and LogF.txt in the working directory). true true Database path. true ... true Working directory (where to put logs/dump stuff). 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 Use the tf-idf method to compute the likelihood. Otherwise, images are compared with each other. true true Qt::Vertical 0 0 Memory QFormLayout::AllNonFixedFieldsGrow 1 9999 15 STM size : Short-term memory size. false 50 0 1.000000000000000 0.010000000000000 0.200000000000000 T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred. true 999 1 2 Maximum locations retrieved at the same time from LTM to WM. true true True=Generate location Ids, False=use input image ids. true Bad signatures are ignored. true true Rehearsal / Weight Update T_similarity : Similarity threshold. Values must be >=0.0 ans <=1.0. true 1.000000000000000 0.200000000000000 On merging, update to new id. true Qt::Vertical 0 0 Database true Keep raw sensor data. 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 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 Keep rehearsed locations. true true Qt::Vertical 0 0 Visual word QFormLayout::AllNonFixedFieldsGrow true Publish visual words. true m 2 0.000000000000000 99.000000000000000 1.000000000000000 0.000000000000000 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 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. Maximum words per image. 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 true ROI ratios [left, right, top, bottom]. true % 0 Left ROI ratio (0 = no change). true % 0 Right ROI ratio (0 = no change). true % 0 Top ROI ratio (0 = no change). true % 0 Bottom ROI ratio (0 = no change). true Visual word type. true SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF Dictionary ... 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 1 0.100000000000000 1.000000000000000 0.100000000000000 0.700000000000000 Path to a pre-computed dictionary (when "Use an incremental dictionary" is not set). true true Nearest neighbor strategy. QComboBox::AdjustToContents FLANN Linear FLANN KdTree FLANN LSH Brute Force Brute Force GPU Use an incremental dictionary. 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 If the dictionary update and signature creation were parallelized. true true Qt::Vertical 0 0 SURF true Octave layers. Descriptor extended (true=128, false=64). true true GPU keypoints ratio. true true GPU version. true 1 100000 4 true U-SURF used. 0.010000000000000 0 50000.000000000000000 500.000000000000000 1 100000 2 Octaves. Hessian threshold. Qt::Vertical 20 40 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 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 true If true, non-maximum suppression is applied to detected corners (keypoints). true true GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected. true 1.000000000000000 0.010000000000000 0.050000000000000 Used with FAST GPU. true 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::Vertical 20 660 ORB 10000 500 The maximum number of features to retain. true 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 8 The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels). true 31 This is size of the border where the features are not detected. It should roughly match the patchSize parameter. true 0 It should be 0 in the current implementation. true 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 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 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 GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected. true Qt::Vertical 20 40 FREAK true Enable orientation normalization. true true Enable scale normalization. true 22.000000000000000 Scaling of the description pattern. true 4 Number of octaves covered by the detected keypoints. true Qt::Vertical 20 40 GFTT 1.000000000000000 0.010000000000000 0.010000000000000 1 1.000000000000000 true Use Harris detector. true 1.000000000000000 0.010000000000000 0.040000000000000 K. true 3 100000 1000 Maximum corners. true Quality level. true Mininum distance. true Block size. true Qt::Vertical 20 644 0 0 Hypotheses verification QComboBox::AdjustToContents No verification Epipolar constraints Hypotheses verification. 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 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 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 the graph and TORO optimizes the graph. RGB-D images must be sent to work (see Source->RGB-D Camera). true Map update m 2 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 rad 2 3.140000000000000 0.100000000000000 Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. true 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 m 1 99.000000000000000 0.100000000000000 1.000000000000000 Laser scan matching history size for odometry correction. Set to 0 to disable odometry correction. ICP 2D only is used here. true Global loop closure constraints When a global loop closure is detected by the Bayes filter, a transform is computed between the current location and the old one. If a transform cannot be computed, the loop closure is rejected. The computation of the transform is done in 2 steps: true A transformation is computed using the 3D visual word correspondences. See "Visual transformation" panel for parameters. true 1) Then if enabled, the visual transform is used as a guess for ICP estimation (3D or 2D). See "ICP" panel for parameters. true 2) QFormLayout::AllNonFixedFieldsGrow QComboBox::AdjustToContents No ICP ICP 3D (e.g. Kinect depth) ICP 2D (e.g. Laser scan) Use ICP estimation. If ICP 2D is selected, laser scans are required. m 2 1.000000000000000 0.010000000000000 0.200000000000000 Maximum ICP correction distance accepted. A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases. true Graph optimization 1 10000 100 TORO graph optimization iterations Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: 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 Local loop closure detection in time true Activate local detection over all locations in STM. The Bayes filter is not used here, so it may results in more false detections. The same 2-steps technique as for global loop closure constraints is used here. true Local loop closure detection in space (laser scans are required) true Activate local detection over locations (in Working Memory) near in space. The Bayes filter is not used here, so it may results in more false detections. ICP 2D only is used here. true m 1.000000000000000 Maximum radius for space detection. true 10 Maximum nearest neighbors for space detection. true Maximum ID difference between the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore. true 999 0 Qt::Vertical 20 0 Loop closure constraint Parameters to compute a transform from 3D visual word correspondences. true 1 1000 10 Minimum visual word correspondences to compute geometry transform. m 3 0.001000000000000 0.010000000000000 0.020000000000000 Maximum distance for visual word correspondences. 1 10000 1 100 Maximum iterations to compute the transform from visual words. m 0.000000000000000 5.000000000000000 Max feature depth. Note that parameter "Visual Word"->"Max words depth" is applied before this. true Force 2D transform (3DoF: x,y and yaw). true Re-extract features true false If not activated, when a loop closure constraint must be computed, the words already extracted for the loop closure detector are used. These words are limited (see Visual Word->Words Per Image) and matched to the loop closure detection vocabulary. When the vocabulary is large, there maybe less corresponding words on a loop closure. true By activating the re-extraction of the features, the features from the two images will be re-extracted using the settings below, and matched directly instead of using the big vocabulary. This adds an overhead processing time but it will mostly produce more corresponding words between the images, so better transformation computed. We recommend to use binary features for fast extraction and matching. true Note that this is used only for global loop closure, so not for local loop closure in time. true 3 QComboBox::AdjustToContents FLANN Linear FLANN KdTree FLANN LSH Brute Force Brute Force GPU 1 0.100000000000000 1.000000000000000 0.100000000000000 0.700000000000000 999999 Max features extracted from the images (0 means inf). true Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector. true 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 4 QComboBox::AdjustToContents SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF Feature detector Qt::Vertical 20 40 ICP Iterative closest point (ICP) parameters. ICP 3D - Point To Plane (e.g. Kinect depth) QFormLayout::AllNonFixedFieldsGrow 1 32 Depth image decimation. true m 0.000000000000000 5.000000000000000 Max cloud depth. true m 3 0.000000000000000 0.010000000000000 0.005000000000000 Voxel size to be used for ICP computation. Set to 0 to disable voxel filtering. true 0 999999 100 5000 Random samples to be used for ICP computation. Not used if Voxel size is null. true 0.010000000000000 0.010000000000000 0.100000000000000 Max distance for point correspondences. true 1 1000 10 Max iterations. true 0.010000000000000 30.000000000000000 Maximum fitness to accept the computed transform. true ICP 2D (e.g. Laser scan) QFormLayout::AllNonFixedFieldsGrow 0.010000000000000 0.010000000000000 0.100000000000000 Max distance for point correspondences. true 1 1000 10 Max iterations. true 0.010000000000000 30.000000000000000 Maximum fitness to accept the computed transform. true 0.000000000000000 1.000000000000000 0.010000000000000 0.900000000000000 Ratio of matching correspondences to accept the transform. true Voxel size. Set to 0 to disable voxel filtering. true m 3 0.000000000000000 0.100000000000000 0.001000000000000 0.000000000000000 Qt::Vertical 20 40 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 QFormLayout::AllNonFixedFieldsGrow Feature detector 0 999999 1 0 Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving. true m 3 0.100000000000000 0.015000000000000 Linear update: minimum linear distance to update the odometry. true m 3 0.100000000000000 0.015000000000000 Angular update: minimum angular distance to update the odometry. true 999999 Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset). true 999999 Max features extracted from the images (0 means inf). true m 3 0.001000000000000 0.010000000000000 0.005000000000000 Maximum distance for visual word correspondences. Lower the value, higher the precision but higher the chance of RED screens (odometry lost). true 8 1000 10 Minimum visual word correspondences to compute geometry transform. true 1 10000 1 100 Maximum iterations to compute the transform from visual words. true 2 0.000000000000000 1.000000000000000 0.010000000000000 0.500000000000000 Minmum ratio of keypoints between the current image and the last image to compute odometry. true m 2 0.000000000000000 1.000000000000000 5.000000000000000 Max feature depth. true QComboBox::AdjustToContents FLANN Linear FLANN KdTree FLANN LSH Brute Force Brute Force GPU Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector. true QComboBox::AdjustToContents SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF 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 1 0.100000000000000 1.000000000000000 0.100000000000000 0.700000000000000 Test selected odometry Qt::Horizontal 40 20 Qt::Vertical 20 40 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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