preferencesDialog 0 0 984 662 0 0 Preferences :/images/RTAB-Map.ico:/images/RTAB-Map.ico 0 160 0 QAbstractItemView::NoEditTriggers false 0 true 0 -855 681 1919 0 0 0 QFrame::Raised 3 General Settings (GUI) true Insert new data received in the GUI cache. Used to show the loop closure image and the 3D Map. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Beep! on special events (finished processing the data set, an error has occured, ...). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Notify when a new global path is received. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Loop Closure Detection View 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 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 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Save/Load Settings Load settings (*.ini) ... Save settings (*.ini) ... Reset all settings Qt::Horizontal 40 20 Qt::Vertical 0 0 3D Rendering Cloud filtering false false For visualization purpose, superposed clouds can be filtered by one or both approaches below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Node filtering. By comparing poses in the same area, only one cloud in a fixed radius and angle is shown. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.010000000000000 0.100000000000000 Radius. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse degrees 0 180.000000000000000 30.000000000000000 Angle. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false <html><head/><body>Cloud subtraction filtering. Note that Map's "3D cloud voxel size" parameter below should be set. When a new cloud is added to the map, the previous cloud is subtracted from the new cloud. Using "Node filtering" at the same time may generate large "holes" in the map (so better to use without "Node filtering"). Voxel size of the map below is used for the radius search of the close points to filter between the two clouds.</body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum number of previous cloud's points in the fixed radius in order to substract the point in the new cloud (radius is the voxel size). Increasing this value reduces the black contours between clouds. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Occupancy Grid Map false false When the Graph view is visible or if the "Show in 3D map view" below is checked, the grid map is generated using the laser scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.750000000000000 1.000000000000000 0.750000000000000 false Show in 3D map view. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.010000000000000 1.000000000000000 0.050000000000000 Resolution (cell size). Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Opacity. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Occupancy from 3D cloud projection on the ground. Laser scans are ignored when activated. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Erode. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false QFrame::StyledPanel QFrame::Raised Show 3D clouds. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Scan opacity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 1.000000000000000 0.010000000000000 0.040000000000000 m 3 1.000000000000000 0.010000000000000 0.040000000000000 Show scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.100000000000000 100.000000000000000 1.000000000000000 2.500000000000000 Map Qt::AlignCenter true true m 3 1.000000000000000 0.010000000000000 0.000000000000000 3D cloud voxel size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 32 4 1 32 2 m 1 100.000000000000000 0.100000000000000 4.000000000000000 m 1 100.000000000000000 0.100000000000000 0.000000000000000 2 1.000000000000000 0.100000000000000 1.000000000000000 1 64 2 3D cloud point size (1..64). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 2 1.000000000000000 0.100000000000000 1.000000000000000 2 1.000000000000000 0.100000000000000 1.000000000000000 Mesh smoothing using Moving Least Squares algorithm (MLS). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Online meshing using Greedy Projection Triangulation (GP3). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show graphs. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 2 1.000000000000000 0.100000000000000 1.000000000000000 true 1 64 3D cloud decimation (1-2-4-8-...). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry Qt::AlignCenter true true m 3 1.000000000000000 0.010000000000000 0.000000000000000 3D cloud maximum depth (0 means no limit). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3D cloud opacity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 64 2 1 64 Scan point size (1..64). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse (GP3) Sphere radius that is to be used for determining the k-nearest neighbors used for triangulating. Guidelines: 4 times the voxel size, 0.025 for voxel=0. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false 20 Show labels. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true (GP3) Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point (this will make the algorithm adapt to different point densities in the cloud). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 1.000000000000000 0.010000000000000 0.000000000000000 m 3 1.000000000000000 0.010000000000000 0.000000000000000 Scan voxel size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Scan downsampling step size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 9999 1 9999 Qt::Vertical 20 40 Logging 2 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR Logger level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 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>Format (3 values): x y z Format (6 values): x y z roll pitch yaw Format (7 values): x y z qx qy qz qw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33 Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tzKITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0 KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0</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 2 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 Images Driver true Only RGB images are published. true false 6 0 0 OpenNI Path to a *.ONI file. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 ... Qt::Vertical 20 306 Qt::Vertical 20 306 Qt::Vertical 20 306 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 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. 1 1.000000000000000 999999.000000000000000 Qt::Vertical 20 0 Stereo false false Grabber for stereo devices (i.e., Bumblebee2). true QComboBox::AdjustToContents DC1394 FlyCapture2 Images Video (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. true 3 Qt::Vertical 20 306 Qt::Vertical 20 306 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 Side-By-Side Video (*.avi) 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 RGB false false 0 Usb camera Images Video file Source type. 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 ... 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 Qt::Vertical 0 0 Video (AVI) ... false 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 Qt::Vertical 0 0 Database false false Open database viewer :/images/mag_glass.png:/images/mag_glass.png ... Start position (index) Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999999 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 Qt::Vertical 20 0 Ignore goals saved in the database. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Directory of images (optional settings) 0 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>Raw Format (3 values): x y z Raw Format (6 values): x y z roll pitch yaw Raw Format (7 values): x y z qx qy qz qw Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33 Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tzRGBD-SLAM (stamp tx ty tz qx qy qz qw) KITTI (stamp + 12 values transform) TORO g2o NewCollege (stamp x y) Malaga Urban (GPS) St Lucia Stereo (INS)</body></html> QComboBox::AdjustToContents Raw RGBD-SLAM KITTI TORO g2o NewCollege Malaga Urban St Lucia Stereo ... 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 <html><head/><body>Format (3 values): x y z Format (6 values): x y z roll pitch yaw Format (7 values): x y z qx qy qz qw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33 Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tzKITTI: /base_link to /scan = -0.27 0 0.08 0 0 0</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>KITTI: 130 000 points</body></html> 99999999 Bayer mode. For convenience, if the images are bayered. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Disabled BG GB RG GR Generate depth image from laser scan true false Fill holes vertically, otherwise fill horizontally. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Fill holes from the image border. 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. The latter 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>KITTI: 130 000 points</body></html> 0 99999999 0 Downsample step size for laser scans. If you laser scans are created from depth images, use Decimation above instead (faster). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body>KITTI: 130 000 points</body></html> m 3 0.010000000000000 <html><head/><body>KITTI: 130 000 points</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 True=Generate location Ids, False=use input image ids. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 9999 15 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 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 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 999 1 2 false 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 Image decimation. This feature can be used to save images in lower resolution (size/decimation). 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 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 1 16 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 Features Extraction SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF BRISK GFTT+ORB FAST+ORB 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 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 ROI ratios [left, right, top, bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse % 0 Top ROI ratio (0 = no change). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Visual word type. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 99.000000000000000 1.000000000000000 0.000000000000000 -1 2000 150 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::LinksAccessibleByMouse|Qt::TextSelectableByMouse true % 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 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 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. Use depth image as mask for feature detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 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 1 0.100000000000000 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 the graph and TORO optimizes the graph. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map Update 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 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 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 Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using ICP (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 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 Path filtering radius to avoid merging laser scans which are close. 0 to ignore. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 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 Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1396 Graph Optimization TORO g2o GTSAM 0 10000 100 Optimize graph from the newest node. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Horizontal 2d SLAM: use fast 3DoF (x, y, theta) optimization instead of 6DoF (x, y, z, roll, pitch, yaw) optimization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Graph optimization algorithm. 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 -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 Iterations. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Stop optimizing when the error improvement is less than this value. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 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 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. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 100.000000000000000 1.000000000000000 1.000000000000000 Qt::Vertical 20 1338 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 Pose estimation filtering strategy. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry strategy. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999999 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 QComboBox::AdjustToContents Local Map Frame to Frame Test selected 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 999999 QComboBox::AdjustToContents No filtering Kalman filtering Particle filtering 0 Local Map The approach maintains a local map of features to match to. It adds incrementally new points to local map up to local history size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters. Note that only visual registration parameters are used in this approach. If you want to use a different registration pipeline than Visual (e.g. with ICP), use "Frame to Frame" approach instead. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 0 ... Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP pose estimation is activated. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 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 0 999999 1 0 Guess optical flow based on previous motion. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 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 (ICP) 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 Qt::Vertical 20 1221 Visual Registration 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 1 10000 1 100 Maximum RANSAC iterations. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3D to 3D 3D to 2D (PnP) 2D to 2D (Epipolar Geometry) 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 1 0 Correspondences Computation: Features Matching 1 0.100000000000000 1.000000000000000 0.100000000000000 0.700000000000000 3 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 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 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 1 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! 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 Visual Feature false false The features are not extracted if the compared nodes have already features extracted. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 QComboBox::AdjustToContents SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF BRISK GFTT+ORB FAST+ORB m 0.000000000000000 5.000000000000000 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 Feature detector Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum feature depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.000000000000000 5.000000000000000 Use depth image as mask for feature detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 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 [OpticalFlow = true] The maximum slope for each stereo pairs. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 999999 1 21 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 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 0 999999 1 0 3 0.001000000000000 1.000000000000000 0.010000000000000 0.100000000000000 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 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 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 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 Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 9999 50 1 9999 50 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