preferencesDialog 0 0 892 792 0 0 Preferences :/images/RTAB-Map.ico:/images/RTAB-Map.ico 0 0 180 0 QAbstractItemView::NoEditTriggers false false 6 600 16777215 QFrame::Raised 2 0General 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 1 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR Logger level true Logger print time 2 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 1 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR 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 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 Save/load configurations Save all configurations to ... Load all configurations from ... Qt::Vertical 20 40 0Source 0 Usb device (Webcam) Images (ex. 1.jpg, 2.jpg...) Video file (AVI) Database Source type 1 100.000000000000000 0.100000000000000 1.000000000000000 Image rate (img/s) 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 0 Usb device -1 999999999 0 Usb device Qt::Vertical 20 40 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 20 40 Video (AVI) ... false Qt::Vertical 20 40 Database (Sqlite3) ... false Ignore children signatures Qt::Vertical 20 40 Qt::Vertical 20 40 0RTAB-Map settings true Publish statistics 10.000000000000000 1.000000000000000 Max time allowed (sec) 999 1 Images buffer size (0 means inf) true 999 1 30 Minimum size of the working memory to create loop closure hypotheses true 1.000000000000000 0.010000000000000 0.950000000000000 Loop closure threshold true The loop closure hypothesis must be over LoopRatio x lastHypothesisValue true 1.000000000000000 0.010000000000000 0.700000000000000 true Working directory (where the database is saved/loaded) ... 999 1 2 Maximum locations retrieved at the same time from LTM to WM. true true Select next actions based only on the more recent neighbor of the current node, otherwise, weight is also used. true false Actions sent also on rejected hypotheses (on decreasing hypotheses) true Qt::Vertical 20 40 1Bayes filter 0 100 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. The values of the sliders are in %. LC is the loop closure event. +- values are the probabilities to be at one of the neighbours of the LC after a loop closure on LC. VP (virtual place) is the probability to be in a new place since a loop closure was found on the last iteration. true VP Qt::AlignCenter Qt::Vertical 0 Qt::AlignCenter 0 50 true 0 0 26 78 0 0 Qt::Horizontal 141 20 LC Qt::AlignCenter Qt::Vertical 0 Qt::AlignCenter Qt::Horizontal 141 20 QFormLayout::ExpandingFieldsGrow Neighbors 9 2 Prediction true Sum Preview 100 100 Prediction probability for the no loop closure event: The VP here is the probability to be in a new place since no loop closure was found on the last iteration. true Virtual place prior true 1.000000000000000 0.010000000000000 0.800000000000000 (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 20 0 1Memory strategy 50 0 1.000000000000000 0.010000000000000 0.150000000000000 Retrieval threshold false Disable memory retrieval false 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 1 9999 15 Short-time memory size false true Incremental Memory false false Common signature used (virtual place) false (iterations) Delay required to transfer a signature to the database false 50 0 Clean the neighborhood of the retrieved id false false 50 0 1.000000000000000 0.010000000000000 0.200000000000000 Ratio of locations after the last loop closure in WM that cannot be transferred true Qt::Vertical 20 40 2Database true Keep raw data (images) true true 999 20 9999 10 200 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 (KeypointMemory) Minimum visual words needed in the trash to save them. The trash thread will save in a chunk instead of small database queries. true Minimum signatures needed in the trash to save them. The trash thread will save in a chunk instead of small database queries. true Database auto cleaning : don't save signature with a loop closure (only keeping the newest one). true Qt::Vertical 20 40 2Rehearsal 1.000000000000000 0.010000000000000 0.500000000000000 Similarity threshold (set to 1 to disable rehearsal) Only compare to the last signature in STM, otherwise all signatures in STM are compared. true Qt::Vertical 20 40 1Signature 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 true Use adaptive response threshold true SURF Star SIFT Keypoint detector true SURF Color+SURF Laplacian+SURF SIFT Hue+SURF Keypoint descriptor true true Use the tf-idf method to compute the likelihood true true If the dictionary update and signature creation were parallelized true % 0 Left ROI ratio (0 = no change) true % 0 % 0 % 0 Right ROI ratio (0 = no change) true Top ROI ratio (0 = no change) true Bottom ROI ratio (0 = no change) true true ROI ratios [left, right, top, bottom] true If tf-idf weighting is normalized by the words count ratio between compared signatures true true Qt::Vertical 20 40 2SURF detector 0 50000.000000000000000 500.000000000000000 Hessian threshold 1 100000 4 Octaves 1 100000 2 Octave layers true GPU version (as well for descriptor) - OpenCV must be compiled with CUDA from NVidia, otherwise, the application may crash if set. true true U-SURF used (only with GPU version) Qt::Vertical 20 40 2Star detector 1 128 45 Maximum size 1 100000 30 Response threshold 1 100000 10 Line threshold projected 1 100000 8 Line threshold binarized 1 100000 5 Suppress Nonmax size Qt::Vertical 20 40 2SIFT detector 6 0.000000000000000 50000.000000000000000 0.001000000000000 0.006667000000000 Threshold Edge threshold 0.100000000000000 10.000000000000000 Qt::Vertical 20 579 2SURF descriptor Descriptor extended (true=128, false=64) true Qt::Vertical 20 40 2Dictionary QComboBox::AdjustToContents Naive KdTree OpenCV 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 20 40 0 0 1Hypotheses verification strategies QComboBox::AdjustToContents No verification Epipolar constraints Hypotheses verification Qt::Vertical 20 40 2Epipolar 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 20 40 Qt::Horizontal QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults Qt::Horizontal QDialogButtonBox::Cancel|QDialogButtonBox::Ok rtabmap::Plot QWidget

Plot.h

1 verticalSlider_prediction_lp valueChanged(int) label_prediction_lp setNum(int) 508 179 509 233 verticalSlider_prediction_vp valueChanged(int) label_prediction_vp setNum(int) 314 185 315 241