preferencesDialog 0 0 980 1246 0 0 Preferences :/images/RTAB-Map.ico:/images/RTAB-Map.ico 0 160 0 QAbstractItemView::NoEditTriggers false 0 true 0 0 684 5315 0 0 0 0 0 0 QFrame::Raised 11 General Settings (GUI) true Use time for figures' x-axis. Otherwise, sensor data IDs are used for camera/odometry info and for all mapping statistics, node IDs are used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Insert created clouds in the GUI cache to avoid regenerating clouds on export. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Cache statistics. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Notify when a new global path is received. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Disable odometry. This option only makes sense in localization mode with a pre-built map and that odometry cannot be computed from the source selected (e.g. RGB source). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Beep! on special events (finished processing the data set, an error has occured, ...). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Insert new data received in the GUI cache. Used to show the loop closure image and the 3D Map. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse When a ground truth is provided, align it with the map. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Republish nodes not in GUI cache. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Save/Load Settings Load settings (*.ini) ... Save settings (*.ini) ... Reset all settings Qt::Horizontal 40 20 Presets <html><head/><body><p><a href="https://github.com/introlab/rtabmap/tree/master/data"><span style=" text-decoration: underline; color:#0000ff;">Presets</span></a> are applied after resetting to defaults the 3D Rendering panel and Core parameters. You can create your own presets by saving/loading settings above.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse TOF Camera ICP <html><head/><body><p>e.g., Kinect [v2, For Azure] and L515 cameras. Example <a href="http://official-rtab-map-forum.206.s1.nabble.com/Kinect-For-Azure-L515-ICP-lighting-invariant-mapping-td7187.html"><span style=" text-decoration: underline; color:#0000ff;">here</span></a>.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse LiDAR 3D ICP e.g., Velodyne, RoboSense and Ouster LiDARs. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Loop Closure Detection true Show the image of the highest hypothesis. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Show image when an hypothesis is rejected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Vertical layout. false Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Graph View Map Graph 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 false Show 3D visual words count on the graph view. Nodes are colorized from blue to red depending on the maximum visual features extracted (which is red). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Show nodes on which loop closures or localizations happened in red. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse No change of graph color. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Localization Graph false Show nodes in green when there is re-localization, red otherwise. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true No change of graph color. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry Show only inliers. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Warning theshold: Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -> General -> Odom inliers. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 50 Qt::Vertical 0 0 3D Rendering Point Cloud Map Qt::AlignCenter true 1 1000 5 m 1 100.000000000000000 0.100000000000000 0.000000000000000 Minimum depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 1000 10 Opacity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 1.000000000000000 0.100000000000000 1.000000000000000 0.010000000000000 -32 32 1 m 3 -10.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 m 1 100.000000000000000 0.100000000000000 0.000000000000000 Show 3D clouds. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 1.000000000000000 0.050000000000000 0.000000000000000 Odometry Qt::AlignCenter true true ROI ratios [left right top bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Point size (1..64). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 64 2 m 1 100.000000000000000 0.100000000000000 4.000000000000000 Voxel filtering size (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Floor filtering height (0=Disabled). This is done in /map frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ceiling filtering height (0=Disabled). This is done in /map frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 -10.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 true Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -32 32 1 m 1 0.000000000000000 100.000000000000000 0.100000000000000 0.000000000000000 m 3 1.000000000000000 0.010000000000000 0.000000000000000 Default color scheme key. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum depth (0 means no limit). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Noise filtering radius (0=disabled). Done after voxel filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 1.000000000000000 0.100000000000000 1.000000000000000 1 64 2 Noise filtering min neighbors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum depth confidence. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse % 0 100 0 % 0 100 0 Organized Online Meshing true Angle tolerance Quad pix 2 99 Triangle size true deg 0 1.000000000000000 99.000000000000000 15.000000000000000 Texture true Laser Scan 2 1.000000000000000 0.100000000000000 1.000000000000000 Scan downsampling step size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 64 Show scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Scan voxel size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 -10.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 Normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Default color scheme key. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum range (0 means no limit). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 999.000000000000000 Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Scan point size (1..64). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 1.000000000000000 0.010000000000000 0.000000000000000 true Scan opacity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 64 1 9999 true 1 9999 2 1.000000000000000 0.100000000000000 1.000000000000000 m 3 1.000000000000000 0.010000000000000 0.000000000000000 Ceiling filtering height (0=Disabled). This is done in /map frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Floor filtering height (0=Disabled). This is done in /map frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 -10.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 0 1000 10 0.010000000000000 Minimum range. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 999.000000000000000 m 999.000000000000000 m 999.000000000000000 Miscellaneous Show graphs. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true true true 1 64 true Show 3D features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show labels. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 64 Feature point size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show frustums. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true true Show landmarks. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Landmark size. If zero, marker's length parameter is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.000000000000000 0.100000000000000 0.100000000000000 Show IMU filtered gravity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show IMU acceleration. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true true true m 0.010000000000000 1.000000000000000 1.000000000000000 m 0.010000000000000 1.000000000000000 1.000000000000000 IMU filtered gravity length. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show frames. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Qt::Vertical 0 0 Node Filtering false false For visualization purpose, superposed clouds can be filtered by one of the approaches below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse No filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false m 0.010000000000000 0.100000000000000 Radius. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0 180.000000000000000 30.000000000000000 Angle. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Cloud subtraction filtering. When a new cloud is added to the map, its points are subtracted from the previous cloud. Qt::PlainText true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Pose filtering. By comparing poses in the same area, only one cloud in a fixed radius and angle is shown. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false 0.010000000000000 1.000000000000000 0.010000000000000 0.020000000000000 Point radius used to find close points between the current cloud and the previous one. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0 180.000000000000000 30.000000000000000 Point angle used to keep only points with similar normal between the current cloud and the previous one. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 Minimum points of the previous cloud in the fixed point radius in order to substract the point in the new cloud. Increasing this value reduces the black contours between clouds. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1625 Grid Map Assembling false false When the Graph View is visible or if the "Show in 3D map view" below is checked, the grid map is assembled using occupancy grids saved in each node. See Occupancy Grid (advanced) panel for parameters used to create the local occupancy grids. If nodes don't have local occupancy grid created, use the Database Viewer tool to generate them. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Show in 3D map view. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Resolution. Set 0 to use same value from Local Occupancy Grid panel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.010000000000000 1.000000000000000 0.050000000000000 0.750000000000000 false Partially checked: Height color map. Checked: RGB color map. false true Show Elevation Map in 3D map view. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Opacity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 10.000000000000000 0.010000000000000 0.000000000000000 OctoMap (3D Occupancy Grid Map) true false Octomap maximum tree depth (max 16). The highest depth means the smallest resolution of the map (cell size). At smallest resolution the octomap shows RGB colors. Other resolutions produce z-axis gradient colored octomap. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 16 16 1 99 5 OctoMap rendering type. Cube rendering requires significant more GPU power. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Show in 3D map view. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Point size. When cube rendering is disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2D grid map created from OctoMap. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Point Cloud Cube Volume Qt::Vertical 20 1375 Logging Logger level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR 3 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR Logger event sent level (fatal messages are always sent). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR FATAL Logger level on which the process will automatically pause, showing the log console. A level set under the logger event level will do nothing. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Logger print time. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 QComboBox::AdjustToContents No log Console File Logger type: when using the file type, logs are saved in LogRtabmap.txt (located in the working directory). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Logger print thread ID. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false -1 QComboBox::AdjustToContents Logger thread filter. If some threads are selected, only messages from these threads will be printed. If no thread is selected, then all messages are logged. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 Source Camera Sensor QComboBox::AdjustToContents RGB-D Stereo RGB Database None Source type. Select specific driver below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 0 0 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 Input rate (0 means as fast as possible). 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 ... 100 0 Equalizes the histogram of grayscale images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 false 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 Detect features inside camera thread using parameters set in Visual Registration panel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 QComboBox::AdjustToContents None Histogram CLAHE 0 0 Calibrate Calibration files are saved in "camera_info" folder of the working directory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Mirroring mode (flip image horizontally). It has no effect on database source. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 Test false Only RGB images (for RGB-D cameras) or left images (for stereo cameras) are published. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Hz 1 100.000000000000000 0.100000000000000 0.000000000000000 <html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 0 0 0 0<br/>KITTI: /base_link to /color_camera = 0 -0.06 0 0 0 0<br/>KITTI: /base_footprint to /gray_camera = 0 0 1.67 0 0 0<br/>KITTI: /base_footprint to /color_camera = 0 -0.06 1.67 0 0 0</p><p>EuRoC MAV: /base_link to /cam0 = T_BS*T_SC0 = 0.999661 0.0257743 -0.00375625 0.00981073 -0.0257154 0.999557 0.0149672 0.064677 0.00414035 -0.0148655 0.999881 -0.0216401</p></body></html> 0 0 0 0 0 0 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. If depth images are smaller than RGB images, the decimation is first applied on RGB, if the resulting RGB image is still bigger than depth image, the depth is not decimated. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 Create Calibration Local transform from /base_link to /camera_link (without optical transform). Mouse over the box to show formats. If odometry sensor is enabled, it is the transform to odometry sensor. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 RGB-D false false Grabber for RGB-D devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents OpenNI-PCL Freenect OpenNI-CV OpenNI-CV-ASUS OpenNI2 Freenect2 RealSense Images Kinect for Windows SDK v2 RealSense2 Kinect for Azure Xvisio SeerSense Orbbec SDK Driver. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 7 0 0 OpenNI Path to a *.ONI file. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Qt::Vertical 0 0 Qt::Vertical 0 0 Qt::Vertical 0 0 Qt::Vertical 0 0 0 0 OpenNI 2 Auto white balance. true Auto exposure. true 65535 false Depth decimation. true Gain. true ... IR-Depth vertical shift. Positive toward up, negative toward down. true true IR-Depth horizontal shift. Positive toward left, negative toward right. true pix -9999 9999 1 65535 Exposure. true Use timestamps and frame IDs from OpenNI2. true Mirroring. true 1000 100 false Path to a *.ONI file. true pix -9999 9999 true Qt::Vertical 0 0 0 0 Freenect2 Depth edge aware filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 65.000000000000000 12.000000000000000 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 true Depth bilateral filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Min depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Format. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 64.000000000000000 0.100000000000000 0.300000000000000 Depth noise filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Max depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Pipeline, any one of "gl cl clkde cuda cudakde cpu". If empty, default one is used. Depending on how libfreenect2 was built, the selected pipeline may not be available. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 0 0 RealSense QComboBox::AdjustToContents Best Quality Largest Image Highest Framerate RGB camera source. For fisheye has depth available only if it is calibrated. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Color Infrared Fisheye Preset for depth stream. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Preset for RGB stream. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Use visual inertial odometry for ZR300. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Depth image scaled to RGB image size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false QComboBox::AdjustToContents Best Quality Largest Image Highest Framerate Qt::Vertical 0 0 0 0 RGB-D Images Maximum frames after start position. 0 means publishing all frames. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse For RGBD-SLAM datasets, it is 5. 3 1.000000000000000 999999.000000000000000 Path to directory containing RGB images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999999 9999999 ... Start position (index). 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 Qt::Vertical 0 0 0 0 Kinect for Windows SDK v2 QComboBox::AdjustToContents Registered Color to Depth SD Registered Depth to Color SD Registered Depth to Color HD Format. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 0 0 RealSense2 ... false Use depth image in IR mode (instead of right image). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse (L515 or playback) Depth stream rate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse IR mode: use IR camera instead of RGB camera. Tracking will be more accurate (field-of-view of the IR camera is larger with less motion blur). Make sure to disable IR emitter. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>D400 Series Visual Presets. See this <a href="https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets"><span style=" text-decoration: underline; color:#0000ff;">page</span></a>.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse RGB/IR stream height. Set 720 for L515. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Hz 999 RGB/IR stream rate. Set 30 for L515. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse RGB/IR stream width. Set 1280 for L515. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 9999 IR emitter enabled true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false (L515 or playback) Depth stream height. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 9999 (L515 or playback) Depth stream width. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Global time sync. This will make sure IMU data is interpolated at image timestamp, otherwise latest received IMU is synchronized to current frame. Set to off if your firmware of your camera cannot synchronize timestamps. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 9999 Hz 999 pix 9999 false Qt::Vertical 0 0 0 0 Kinect for Azure false Use MKV file stamps as input rate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Frames per second Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 0 0 5 15 30 720p 1080p 1440p 1536p 2160p 3072p Path to a *.MKV file. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use IR for RGB image (may work better in dark areas). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 320x288 (NFOV 2x2BINNED) 640x576 (NFOV UNBINNED) 512x512 (WFOV 2x2BINNED) 1024x1024 (WFOV UNBINNED) Depth camera resolution. 2x2 binning mode extends the Z-range in comparison to the corresponding unbinned mode. Binning is done at the cost of lowering image resolution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>RGB camera resolution. Note that when color camera is used (IR mode is not checked below), to <span style=" font-weight:600;">avoid black borders in point clouds</span> generated, set ROI ratios under 3D Rendering settings to &quot;0.05 0.05 0.05 0.05&quot; under Map and Odom columns.</p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Qt::Vertical 0 0 Orbbec SDK 0 0 Resolution 9999 9999 Depth true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 Color true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Width true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Height true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 Enable IMU true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Rectify color frames true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Convert depth in mm (16 bits format) true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Stereo false false Grabber for stereo devices (i.e., Bumblebee2, RealSense2, DepthAI, Zed cameras). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Auto exposure compensation between left and right images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Driver. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents DC1394 FlyCapture2 Images Video ZED sdk Usb camera Tara Camera RealSense2 MyntEyeS ZED Open Capture DepthAI Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Convert right image to gray scale if not already. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 5 0 0 Stereo Images ... Qt::Vertical 20 0 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 ... Start position (index). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999999 Maximum frames after start position. 0 means publishing all frames. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999999 0 0 Stereo Video (*.avi, *.mp4) ... Qt::Vertical 20 0 Side-by-Side (SBS) video or left video. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Right video. Should be empty if a SBS video is set above. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 0 0 Zed sdk Self-Calibration. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse NONE PERFORMANCE QUALITY ULTRA NEURAL LIGHT NEURAL NEURAL PLUS [SDK3] Texture confidence. Threshold to reject depth values based on their textureness confidence. A lower value means more confidence and precision (but less density). An upper value reduces filtering (more density, less certainty.). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Resolution. Not used when a SVO file is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Depth confidence. Filtering value for the disparity map (and by extension the depth map). A lower value means more confidence and precision (but less density), an upper value reduces the filtering (more density, less certainty). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Sensing mode. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 100 100 ... Quality. If NONE, the disparity is not computed on the GPU, but on CPU using OpenCV (see StereoBM panel for parameters). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to a *.SVO file. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse STANDARD FILL Qt::Vertical 20 0 AUTO HD4K QHDPLUS HD2K HD1536 HD1080 HD1200 HD720 SVGA VGA XVGA TXVGA 0 0 Usb Camera Stream width (0 for default resolution). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 0 10000 Stream height (0 for default resolution). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10000 -1 Optional right device ID. It should be -1 if the stereo camera streams side-by-side images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>FOURCC (<a href="https://fourcc.org/codecs.php"><span style=" text-decoration: underline; color:#0000ff;">https://fourcc.org/codecs.php</span></a>).</p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Should be 4 characters 0 0 MYNT EYE S Compute depth image with MYNT EYE S SDK. Ignored if images are not rectified from MYNT EYE S SDK. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Rectify images using MYNT EYE S SDK. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 240 120 48 24 true Image gain [0-48], valid if manual-exposure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Image brightness [0-240], valid if manual-exposure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Auto-exposure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Image contrast [0-254], valid if manual-exposure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 254 116 IR control [0-160]. 0 means that the IR pattern is not projected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 160 116 Qt::Vertical 20 0 0 0 Zed Open Capture HD2K HD1080 HD720 VGA Resolution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 0 0 DepthAI 0 QComboBox::AdjustToContents 640 1280 Image width. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 QComboBox::AdjustToContents Stereo Mono+Depth Color+Depth Output mode. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 255 200 Disparity confidence threshold (0-255). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -1 255 5 Computes and combines disparities in both L-R and R-L directions, and combine them. Disparity left-right check threshold. Set -1 to turn off. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>Disparity range increased from 0-95 to 0-190, combined from full resolution and downscaled images.</p></body></html> Extended disparity. Suitable for short range objects. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p> * Matching pixel by pixel for N disparities.</p><p> * Matching every 2nd pixel for M disparitites.</p><p> * Matching every 4th pixel for T disparities.</p><p> * In case of 96 disparities: N=48, M=32, T=16.</p><p> * This way the search range is extended to 176 disparities, by sparse matching.</p><p> * Note: when enabling this flag only depth map will be affected, disparity map is not.</p></body></html> Disparity companding using sparse matching. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 QComboBox::AdjustToContents Disabled Subpixel 3 Subpixel 4 Subpixel 5 <html><head/><body><p>Computes disparity with sub-pixel interpolation (3 fractional bits by default). </p></body></html> Subpixel mode: number of fractional bits. Suitable for long range. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 QComboBox::AdjustToContents 64 pixels 96 pixels Disparity search range: 64 or 96 pixels are supported by the HW. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 QComboBox::AdjustToContents MEDIAN_OFF KERNEL 3x3 KERNEL 5x5 KERNEL 7x7 Set kernel size for disparity/depth median filtering, or disable. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use the translation information from the board design data (not the calibration data). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -1.000000000000000 1.000000000000000 1.000000000000000 0.000000000000000 On some high distortion lenses, and/or due to rectification (image rotated) invalid areas may appear even with alpha=0, in these cases alpha < 0.0 helps removing invalid areas. Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). If alpha is set to -1, old rectification policy is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse IMU published true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.050000000000000 0.000000000000000 <html><head/><body><p>Intensity on range 0 to 1, that will determine brightness.</p></body></html> IR laser dot projector intensity. 0 to turn off. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.050000000000000 0.000000000000000 <html><head/><body><p>Intensity on range 0 to 1, that will determine brightness.</p></body></html> IR flood light intensity. 0 to turn off. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 QComboBox::AdjustToContents None GFTT SuperPoint HF-Net On-device feature detector. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 100 0 Path to MyriadX blob file. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 RGB false false Source type. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 Usb camera Images Video file Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 USB Camera 0 10000 Stream width (0 for default resolution). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10000 Stream height (0 for default resolution). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Should be 4 characters <html><head/><body><p>FOURCC (<a href="https://fourcc.org/codecs.php"><span style=" text-decoration: underline; color:#0000ff;">https://fourcc.org/codecs.php</span></a>).</p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Images Dataset false Start position (index). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999999 ... Maximum frames after start position. 0 means publishing all frames. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999999 Qt::Vertical 0 0 Video (AVI) false ... Qt::Vertical 0 0 Database false false Ignore IMU (i.e., gravity links). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Start position (node ID). Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use database stamps as input rate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ignore priors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ignore features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Camera index. If the database contains multi-camera data, you can choose which camera to use. Leave empty to use all cameras. Can also be multiple indices split by spaces in a string like "0 2" to stream cameras 0 and 2 only. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Open database viewer :/images/mag_glass.png:/images/mag_glass.png Ignore goals saved in the database. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Publish intermediate nodes as normal nodes. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 99999 Stop position (node ID) is the last node to process. If 0, all nodes after start position are published. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ignore landmarks. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 99999 Ignore goal delay. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Add an y-axis offset before optical rotation on the overriden local transform(s). For multi-cameras,explicitly enumerate offsets if they are different (e.g., "0.05 0.075" for two cameras setup), or set single number to apply to all camera transforms. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Override camera local transform(s) with local transform(s) set above. For multi-cameras, use a ";" between each transform. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Qt::Vertical 20 1375 Directory of images (optional settings) 0 0 0 0 QComboBox::AdjustToContents Disabled BG GB RG GR <html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0<br/>KITTI: /base_footprint to /scan = -0.27 0 1.75 0 0 0</p></body></html> 0 0 0 0 0 0 <html><head/><body><p>KITTI: 130 000 points</p></body></html> 99999999 ... <html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>EuRoC: /base_link to /imu = 0 0 1 0 -1 0 1 0 0</p></body></html> 0 0 0 0 0 0 Local transform from /base_link to /imu_link. Mouse over the box to show formats. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse IMU Rate. To synchronize capture rate with IMU timestamps, set to 0. This can be set a little over the actual IMU rate to keep up with camera capture rate if images are dropped by odometry. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>Load config file for each frame. Config files are read from the calibration folder and should have the same name than the corresponding frame file. Currently supporting 3DScannerApp for iOS export config format (JSON, intrinsics, pose and stamp) and RTAB-Map calibration file format. </p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Synchronize capture rate with timestamps. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)<br/>EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)</p></body></html> QComboBox::AdjustToContents Raw RGBD-SLAM (motion capture) KITTI TORO g2o NewCollege Malaga Urban St Lucia Stereo Karlsruhe EuRoC MAV RGBD-SLAM RGBD-SLAM + ID rgbd_bonn Bayer mode. For convenience, if the images are bayered. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Naming <prefix>_<index>.yaml, or <prefix>_<index>_left.yaml and <prefix>_<index>_right.yaml for stereo, index starting at 0 <html><head/><body><p>Multi-camera mode: each image is a horizontal stack of N sub-camera images (for stereo, both left and right images are stacked the same way). One calibration file per sub-camera (see naming format on tooltip) must be in the calibration folder. A local_transform (rig extrinsics) is required in each file.</p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Odometry file. Select the correct format below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... EuRoC: 200 Hz -> 250 Hz 99999999 Odometry format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>cvs format (comma split): &quot;stamp_sec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p><p>EuRoC format: &quot;stamp_nanosec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p></body></html> 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 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 s 4 9.990000000000000 0.010000000000000 0.020000000000000 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 ... Ground truth file. Select the correct format below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to file containing optional IMU data (*.csv [EuRoC format]). Mouse over the box to show formats. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p></body></html> 0 0 0 0 0 0 Local transform from /base_link to /laser_link. Mouse over the box to show formats. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>RGBD-SLAM + ID (stamp id tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)<br/>EuRoC MAV (stamp,tx,ty,tz,qw,qx,qy,qz...)</p></body></html> QComboBox::AdjustToContents Raw RGBD-SLAM (motion capture) KITTI TORO g2o NewCollege Malaga Urban St Lucia Stereo Karlsruhe EuRoC MAV RGBD-SLAM RGBD-SLAM + ID rgbd_bonn Maximum laser scan points. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Local transform from /base_link to /gt_link. Mouse over the box to show formats. By default, we assume the ground truth matches the base frame, if the ground truth refers to another frame, set this to convert the poses in base frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Max time difference between data and corresponding pose for format with stamps. If delay is over this threshold, the pose won't be set on data loaded. This is used when odometry and/or ground truth files are set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Generate depth image from laser scan true false Interpolate depth values to fill holes true Vertically true Horizontally Fill holes from the image border. Depth Image Filtering ... 100 0 Open database viewer :/images/mag_glass.png:/images/mag_glass.png Distortion model (output from depth calibration). true Bilateral Filtering of the Depth Image true 4 0.000100000000000 1.000000000000000 0.001000000000000 0.005000000000000 Standard deviation of the Gaussian for the intensity difference. Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.100000000000000 100.000000000000000 1.000000000000000 5.000000000000000 Size of the Gaussian bilateral filter window to use. Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse IMU Filtering None Madgwick Filter Complementary Filter IMU filtering strategy used to estimate the orientation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 0 0 false Convert IMU in base frame before filtering. This can help to initialize correctly the yaw. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Publish inter IMU messages from the camera. IMU received between images will be published as separate topic. Orientation overridden (if any) if IMU filtering is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 Qt::Vertical 20 0 Madgwick Filter 4 0.000000000000000 1.000000000000000 0.010000000000000 0.010000000000000 Gain. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000000000000000 1.000000000000000 0.010000000000000 0.010000000000000 Zeta. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Complementary Filter Do bias estimation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Gain acc. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000000000000000 1.000000000000000 0.010000000000000 0.010000000000000 Bias alpha. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000000000000000 1.000000000000000 0.010000000000000 0.010000000000000 Do adaptive gain. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Odometry Sensor QComboBox::AdjustToContents None RealSense2 (T265) ZED sdk SeerSense Driver. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Pass input odometry as guess to internal odometry. Otherwise, internal odometry is skipped and input odometry is sent directly to SLAM's back-end. This applies to all sources that can provide odometry (e.g., odometry file, database, ...). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 0 0 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 Use as ground truth. The odometry poses will be saved in ground truth field of sensor data instead of being used as odometry. The actual odometry will be computed by rtabmap using the camera sensor. This can be useful to compare rtabmap odometry versus odometry sensor, and to estimate a scale factor between the sensors (using "rtabmap-report -- scale") that can be used above. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Time offset between camera and visual odometry sensors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ms 1 -999.000000000000000 999.000000000000000 0 0 Calibrate Extrinsics <html><head/><body><p>Extrinsics between pose frame and camera's left lens (without optical rotation). Default extrinsics match the 3D printed bracket <a href=" https://www.intelrealsense.com/depth-and-tracking-combined-get-started/"><span style=" text-decoration: underline; color:#0000ff;">here</span></a> for T265+D400 setup. (<a href="https://github.com/IntelRealSense/realsense-ros/blob/occupancy-mapping/realsense2_camera/meshes/mount_t265_d435.stl"><span style=" text-decoration: underline; color:#0000ff;">stl</span></a>). Not used if camera and visual odometry sensors are the same sensor.</p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Calibrate extrinsics between visual odometry sensor and camera. Both sensors should be already calibrated. See Calibrate button above to calibrate them individually. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum wait time to get the pose for latest data captured. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 100 0 ms 0 0.000000000000000 1000.000000000000000 100.000000000000000 <html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p><br/></p></body></html> 0.009 0.021 0.027 0.000 -0.018 0.005 Scale factor between camera and visual odometry sensor. This factor is multiplied to translation components of each pose in the odometry trajectory. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Calibration file path (*.yaml) for the visual odometry sensor. If empty, the GUID of the camera is used (for those having one). Only required to calibrate extrinsics. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000100000000000 999.000000000000000 0.100000000000000 1.000000000000000 LiDAR Sensor false false If you want to use ICP registration, the sensor data should have laser scan. Laser scans can be created from the depth images (see option below) or loaded from the source selected. These parameters can be used to reduce the point cloud size directly in the capturing thread. true QComboBox::AdjustToContents None VLP-16 LiDAR odometry will update the camera local transform to match its real pose at the LiDAR stamp. Grabber for LiDAR devices (e.g., Velodyne). The capture will be synchronized with LiDAR frame rate. If a camera driver is set, images will be added to LiDAR capture. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Generate laser scan from depth image. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 0 0 m 9999.000000000000000 <html><head/><body><p>KITTI: 130 000 points</p></body></html> m 3 0.010000000000000 <html><head/><body><p>KITTI: 130 000 points</p></body></html> 1 99999999 Minimum range, filter points below that range. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Lidar deskewing. The input scan should have time channel and "Visual Odometry Sensor" should be used. If only IMU is available through the camera, enable publishing of inter IMU under "IMU filtering" above and enable deskewing in Odometry parameters instead. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Search radius for normals computation (0=disabled). Useful if the ICP registration approach is point to plane. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Voxel size for uniform sampling. Note that it is done after downsampling. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 9999.000000000000000 <html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 0 0 0 0<br/>KITTI: /base_link to /color_camera = 0 -0.06 0 0 0 0<br/>KITTI: /base_footprint to /gray_camera = 0 0 1.67 0 0 0<br/>KITTI: /base_footprint to /color_camera = 0 -0.06 1.67 0 0 0</p><p>EuRoC MAV: /base_link to /cam0 = T_BS*T_SC0 = 0.999661 0.0257743 -0.00375625 0.00981073 -0.0257154 0.999557 0.0149672 0.064677 0.00414035 -0.0148655 0.999881 -0.0216401</p></body></html> 0 0 0 0 0 0 Local transform from /base_link to /laser_link. Mouse over the box to show formats. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum range, filter points above that range. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>KITTI: 130 000 points</p></body></html> 0 99999999 0 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 <html><head/><body><p>KITTI: 130 000 points</p></body></html> 0.010000000000000 Force ground normals to be all upward (e.g., 0.8). Useful to make sure Velodyne's scans on ground have all normals upward. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>KITTI: 130 000 points</p></body></html> 1.000000000000000 0.010000000000000 Downsample step size for laser scans. If your laser scans are created from depth images, the step is used as decimation of the depth images. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 Test 1 Qt::Vertical 20 255 VLP16 QAbstractSpinBox::NoButtons 0 255 0 QAbstractSpinBox::NoButtons 0 255 0 QAbstractSpinBox::NoButtons 0 250 0 QAbstractSpinBox::NoButtons 0 250 0 <html><head/><body><p>If the lidar is not connected to a GPS, the lidar's clock may be not in sync with the host computer's clock. By enabling this, as soon as a packet is received, it will be stamped with host time &quot;now&quot;. Note that it affects only the final scan timsestamp, not the individual relative timestamp for each point. It is recommended to enable this if you combine it with other sensors above and it is not connected to a GPS.</p></body></html> Use host time. See tooltip for more info. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true ... <html><head/><body><p>Local network interface (IP address of <span style=" font-weight:600;">this</span> computer) on which to listen for VLP16 packets. Use 0.0.0.0 to listen on all interfaces (recommended). This is NOT the sensor's IP address; the sensor decides where to send its data (configure its destination host in the sensor's own web interface).</p></body></html> Local IP to listen on (0.0.0.0 = all interfaces). See tooltip. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse This can speedup deskewing. Output organized point cloud. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to a *.PCAP file. IP/Port/Host time are ignored if PCAP file is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>Local UDP port on this computer to listen for VLP16 data packets (default 2368). The LiDAR must be configured to send its data to this port.</p></body></html> Port to listen on (default 2368). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QAbstractSpinBox::NoButtons 0 99999 2368 <html><head/><body><p>This makes synchronization closer with other sensors above as they will be pulled only after the scan is fully received.</p></body></html> Make the scan timestamp corresponding to timestamp of the last point of the rotation, otherwise it will be the timestamp of the first point of the rotation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Qt::Vertical 20 0 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 Hz 3 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 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 1 Data buffer size (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Create intermediate nodes if odometry is faster than the detection rate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 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 true Start a new map only if the first signature is not bad (i.e., has enough features, see Vocabulary->Bad signature ratio). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Rectify only features. If images are not already rectified (see parameter above) and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Save localization data during localization session (when SLAM mode is false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Thresholds Maximum signatures allowed in Working Memory (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.010000000000000 0.950000000000000 ms 0 10000.000000000000000 50.000000000000000 700.000000000000000 T_time : Max time (ms) allowed (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 99999 0 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 Loop closure threshold used (overriding T_loop) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (see "Max odometry cache size" under RGB-D SLAM panel). In all cases, the goal is to aggressively loop on a previous map in the database that is not linked to current map. Only used when RGB-D SLAM mode is enabled. Set 1 to disable. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.010000000000000 0.050000000000000 Publish statistics (stuff to be shown in the GUI) and save them in database true true true true Publish loop closure hypotheses (pdf). Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Save working memory state after each update. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Publish loop closure likelihood. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Publish RAM usage. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Compute RMSE when ground truth is available. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true true Publish signature data. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Maximum nodes republished when requesting missing data. When RGB-D SLAM mode is disabled, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if "Publish signature data" is unchecked. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 0 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 Save intermediate node data. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Image post decimation. Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than Pre Decimation, data already decimated is saved (no need to re-decimate the image). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Bad signatures are ignored. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Multi-threaded compression. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Raw descriptors kept in memory. 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 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 999 1 2 false false false false Image pre decimation. Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If Vocabulary->Depth As Mask is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false STM size : Short-term memory size. false Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 50 0 1.000000000000000 0.010000000000000 0.200000000000000 1 9999 15 false T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Initialize the Working 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 This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet. Rotate images so that upside is up if they are not already. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100% of the loop closures accepted are good, so it is highly recommended to enable optimization error ratio at the same time. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 16 false True=Generate location Ids, False=use input image ids. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum locations retrieved at the same time from LTM to WM. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 16 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 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 true Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Laser scan filtering 50 0 1 9999 Downsampling step. 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 50 0 m 0.010000000000000 50 0 0 99 0 Normal K. If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Normal Radius. If > 0 and laser scans don't have normals, normals will be computed with radius search when creating a signature. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Voxel size. If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use Normal K or Normal Radius parameters below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 50 0 m 3 0.010000000000000 Rehearsal / Weight Update T_similarity : Similarity threshold. Values must be >=0.0 and <=1.0. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.200000000000000 On merging, update to new id. Keep this unchecked if intermediate nodes are created. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ignore Weight Update when the robot is moving. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Vocabulary false Use odometry features. Disable to select different feature type. Note that if no features are received, they will be re-extracted (if visual odometry is used, you may want to match the feature type below with the one used for odometry). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Features Extraction 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 -1 2000 500 SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF BRISK GFTT+ORB KAZE ORB OCTREE SuperPoint Torch SURF+FREAK GFTT+DAISY SURF+DAISY PyDetector Superpoint Rpautrat Number of columns of the grid used to extract uniformly "max words / grid cells" features from each cell. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum words depth. Only used when a depth image is provided. Applied before "Maximum words per image". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If true, SSC (Suppression via Square Covering) is applied to limit keypoints. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.000000000000000 1.000000000000000 0.050000000000000 0.250000000000000 true Triangulate features without depth using stereo from motion (odometry). It would be ignored if depth as mask is checked and the feature detector used supports masking. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse % 0 m 2 0.000000000000000 99.000000000000000 1.000000000000000 0.000000000000000 Use depth image as mask when extracting features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Right ROI ratio (0 = no change). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Top 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. 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 Visual word type. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Left ROI ratio (0 = no change). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse % 0 1 99 1 ROI ratios [left, right, top, bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse % 0 Bad signature ratio (less than Ratio x AverageWordsPerImage = bad). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 99.000000000000000 1.000000000000000 0.000000000000000 Number of rows of the grid used to extract uniformly "max words / grid cells" features from each cell. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Bottom ROI ratio (0 = no change). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 99 1 Filter floor from depth mask. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 -99.000000000000000 99.000000000000000 0.050000000000000 0.000000000000000 Sub Pixel Refining Refining features to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 5 Window size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 20 Iterations. 0 disables sub pixel refining. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.001000000000000 0.100000000000000 0.010000000000000 0.030000000000000 Epsilon. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Features Quantization true ... Rebuild the incremental FLANN index once the ratio (factor-1)/factor of its features has been removed, e.g. half of them for a factor of 2. Rebuilding frees the memory of the removed features and speeds up the searches. Features are mostly removed when memory management is enabled. Set to 1 to never rebuild, which also uses less memory as the features don't have to be referenced one by one. 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. 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 only rebuilt when too many of its features have been removed, see the factor below). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true QComboBox::AdjustToContents FLANN Linear FLANN KdTree FLANN LSH Brute Force Brute Force GPU NanoFLANN KdTree FLANN KdTree Single 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 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 2 0.010000000000000 1.000000000000000 0.100000000000000 0.700000000000000 1 1.000000000000000 99.000000000000000 0.100000000000000 2.000000000000000 true For FLANN KdTree, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to a pre-computed dictionary (when "Use an incremental vocabulary" is not set). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If the dictionary update and signature creation were parallelized. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Nearest neighbor strategy. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Save FLANN index during localization session (when Mem/IncrementalMemory=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false true Auto 0 128 1 Number of threads used for FLANN kNN search of the batched queries (Auto=one per core, 1=single-threaded search). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Database Sqlite3 journal mode, see Sqlite3 doc 'PRAGMA journal_mode'. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Sqlite3 cache size, see Sqlite3 doc 'PRAGMA cache_size'. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., "0.19" vs "0.20" or "1.0" vs "2.0"). Patch version is ignored (e.g., "0.20.1" and "0.20.3" will generate a "0.20" database). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Sqlite3 synchronous, see Sqlite3 doc 'PRAGMA synchronous'. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 10 999999 100 2000 2 OFF NORMAL FULL DEFAULT FILE MEMORY Depth image compression format (should be ".png" or ".rvl"). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Keep not linked nodes in db (rehearsed nodes and deleted nodes are saved). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse major.minor RGB image compression format (should be ".jpg" or ".png"). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Keep sensor compressed data. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse DELETE TRUNCATE PERSIST MEMORY OFF Sqlite3 temp store, see Sqlite3 doc 'PRAGMA temp_store'. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse In localization mode, open the database in read-only mode (ignored in SLAM mode). Currrenty incompatible with memory management (i.e., Time and/or Memory thresholds cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless RGBD/StartAtOrigin is used or an external initial pose is provided on initialization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 QComboBox::AdjustToContents Disabled PyDescriptor Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use GPS to filter likelihood (if GPS is recorded). Only locations inside the Local Radius (see RGBD-SLAM panel) of the current GPS location are considered for loop closure detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Sparse prediction. Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values above sum to less than 1, as the prediction is then not sparse. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 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 Use the tf-idf method to compute the likelihood. Otherwise, images are compared with each other. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Global descriptor extractor. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Likelihood ratio for VP. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContentsOnFirstShow Mean / StdDev StdDev / (Max-Mean) Hypothesis Verification true 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 PyDescriptor <html><head/><body><p>Python wrapper for python descriptor like <a href="https://github.com/uzh-rpg/netvlad_tf_open"><span style=" text-decoration: underline; color:#0000ff;">NetVLAD</span></a>. Download the interface <a href="https://github.com/introlab/rtabmap/tree/master/corelib/src/pydescriptor"><span style=" text-decoration: underline; color:#0000ff;">script</span></a> and copy it in the python folder of NetVLAD, then set its path below.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 0 999999 1 4096 [Required] Path to rtabmap python script. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Descriptor dimension. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Qt::Vertical 20 40 RGB-D SLAM false Activate metric RGB-D SLAM. This module enables 6d metric SLAM directly in RTAB-Map. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to graph and the graph optimizer optimizes the graph. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Map Update Reject loop closures/localizations if the distance from the map is over this distance (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Force odometry poses to be 3DoF if Motion Estimation is 3DoF. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Localization prior error. Used only in localization mode. The corresponding variance (error x error) set to priors of the map's poses during localization. Set to 0 to only fix the first map's pose linked in odometry cache (i.e., other map's poses will be allowed to move during the optimization). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Localization smoothing. Used only in localization mode. Adjust localization constraints based on optimized odometry cache poses. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 (odometry) with the previous node is refined using ICP registration approach (laser scans required). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m/s 3 0.100000000000000 m 1 99.000000000000000 0.100000000000000 1.000000000000000 Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used (assuming that registration strategy can deal with transformation estimation without guess). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum angular speed to update the map (0 means not limit). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse rad 2 3.140000000000000 0.100000000000000 Inverted registration. On loop closure, do registration from the target to reference instead of reference to target. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse rad/s 2 3.140000000000000 0.100000000000000 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 m 1.000000000000000 Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if "Optimizer/GravitySigma" is not zero. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ratio of working memory for which local nodes are immunized from transfer. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If true, rtabmap will assume the robot is restarting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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. To update the map when not moving, both linear and angular update parameters should be 0. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 Ignore off diagonal values of the odometry covariance matrix. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum odometry cache size. Used only in localization mode. This is used to get smoother localizations and to verify localization transforms (when maximum graph error is not null) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1.000000000000000 Re-extract visual features when computing loop closure transformations. Raw features are not saved in database. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. To update the map when not moving, both linear and angular update parameters should be 0. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Do local bundle adjustment with neighborhood of the loop closure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 1.000000000000000 0.100000000000000 0.100000000000000 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 Maximum linear speed to update the map (0 means not limit). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 4 0.000100000000000 1.000000000000000 0.010000000000000 0.010000000000000 When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache. If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links. 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 <html><head/><body><p>Activate proximity detection over nodes (in Working Memory) near in space. The new nodes are compared to those inside the local radius of the current estimated position of the robot. There are 2 steps: </p><p>1) do a <span style=" font-weight:600;">one-to-one</span> proximity detection, meaning the current node is compared to closest node on each close path based current localization,</p><p>2) then if the laser scans are used, a <span style=" font-weight:600;">one-to-many</span> detection is done by comparing the current laser scan to a point cloud assembled with laser scans for each close path. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations.</p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum paths compared (from the most recent) for proximity detection. 0 means no limit. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use odometry as motion guess for one-to-one proximity detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 0 deg 0 360.000000000000000 10.000000000000000 Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum graph depth between the current/last loop closure location and the proximity hypotheses. Set 0 to ignore. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999 0 When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.100000000000000 1.000000000000000 999 0 Save scan matching IDs from one-to-many proximity detection in link's user data. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum angle (degrees) for one-to-one proximity detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode, otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Covariance factor for one-to-many proximity detection (when Maximum neighbor nodes>0 and scans are used). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 1.000000000000000 10000.000000000000000 10.000000000000000 100.000000000000000 Qt::Vertical 20 1396 Graph Optimization 2 0.000000000000000 100.000000000000000 1.000000000000000 1.000000000000000 Qt::Horizontal Ignore landmarks. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Optimize graph from the newest node. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with robust graph optimization, the disabled loop closure links will be removed. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 Graph optimization algorithm. See Optimizer panel. 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 Ignore pose priors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse TORO g2o GTSAM Ceres Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Repairing graph radius. If two consecutive loop closures are rejected by the optimization error ratio on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.000000000000000 999.000000000000000 1.000000000000000 1.000000000000000 Qt::Vertical 17 2098 Local Occupancy Grid false Resolution (cell size). Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1 100.000000000000000 1.000000000000000 4.000000000000000 Minimum ground height (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Noise filtering min neighbors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum ground height (0=disabled). Should be set if Normals Segmentation Approach is checked below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum range from the sensor (0 means no limit). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 10.000000000000000 0.100000000000000 0.000000000000000 Sensor from which the local grid is created. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 9999.000000000000000 Create local occupancy grid maps. This should be enabled to generate a global occupancy grid map. A cloud will be created from the depth image (see option below) or the 3D laser scan. This cloud will be segmented into ground and obstacle cells. For 2D laser scan, the occupancy grid is created using 2D ray casting (only Resolution and 2D Laser Scan related parameters are used). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 99999.000000000000000 0.010000000000000 Maximum obstacles height (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 10.000000000000000 0.100000000000000 0.000000000000000 false m 2 -99999.000000000000000 0.000000000000000 0.010000000000000 -0.050000000000000 m 2 10.000000000000000 0.100000000000000 0.000000000000000 Footprint filtering width (0=disabled). Footprint length should be set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Laser scan decimation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse LiDAR Camera(s) LiDAR and Camera(s) Noise filtering radius (0=disabled). Done after segmentation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1000 5 Minimum range from the sensor. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 1.000000000000000 0.050000000000000 0.000000000000000 m 0.010000000000000 1.000000000000000 0.050000000000000 Footprint filtering length (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1 100.000000000000000 0.100000000000000 0.000000000000000 Footprint filtering height (0=disabled). Footprint length and width should be set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Input cloud is downsampled by voxel filter (voxel size is cell size) before doing segmentation of obstacles and ground. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 100 1 Ray tracing is done for each obstacle, filling unknown space between the sensor and obstacles. If RTAB-Map is not built with OctoMap, 3D ray tracing cannot be done. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false Camera Sensor false 1 32 4 Decimation of the depth image before creating cloud. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ROI ratios [left, right, top, bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Normals Segmentation Approach true In this approach, the ground of the 3D cloud is segmented using the point normals instead of a passthrough filter. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0 0.000000000000000 180.000000000000000 30.000000000000000 1 10000 20 Maximum angle between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum cluster size to project the points. The distance between clusters is defined by 2*Resolution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Flat obstacles detected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false 3 1000 20 K neighbors to compute normals. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Cluster radius. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 0.001000000000000 1.000000000000000 0.010000000000000 0.100000000000000 3D true A 3D occupancy grid is required if you want an OctoMap. Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ground segmentation (Normals Segmentation Approach) is ignored, all points are obstacles. Use this only if you want an Octomap with ground identified as an obstacle (e.g., with an UAV). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 2D Laser Scan Ray Tracing These parameters only affect 2D occupancy grid created from 2D laser scan. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Unknown space filled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1177 Global Occupancy Grid false Altitude delta. Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 Occupancy threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Footprint radius used to clear all obstacles under the graph. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 m 0 0.000000000000000 9999.000000000000000 10.000000000000000 0.000000000000000 Probability of a miss. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Probability clamping threshold minimum. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000000000000000 1.000000000000000 0.100000000000000 0.500000000000000 Erode obstacle cells. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum map size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 0.001000000000000 99.000000000000000 0.100000000000000 0.010000000000000 0.500000000000000 1.000000000000000 0.100000000000000 0.500000000000000 0.000000000000000 1.000000000000000 0.100000000000000 0.000000000000000 16 Maximum nodes assembled in the map starting from the last node (0=unlimited). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Probability clamping threshold maximum. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000000000000000 1.000000000000000 0.100000000000000 0.500000000000000 0.000000000000000 0.500000000000000 0.100000000000000 0.500000000000000 m 2 0.000000000000000 99.000000000000000 0.100000000000000 0.000000000000000 false Probability of a hit. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Graph changed detection error. Update map only if poses in new optimized graph have moved more than this value. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 2473 Path Planning If the goal is too far (>local radius) from the graph, the plan is aborted. The next goal in the graph can't be farther than the local radius around the current position. Anticipated nodes on the path are retrieved in the local radius up to "Maximum local locations retrieved". A virtual link is added between the current location and the nearest one on the path up to local radius. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 1.000000000000000 Goal reached radius. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Mark the current goal node on the path as unreachable if it a new goal is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999 m/s 0.100000000000000 0.000000000000000 rad/s 10.000000000000000 0.000000000000000 Linear velocity used to compute path weights based on time instead of distance (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Angular velocity used to compute path weights based on time instead of distance. Paths with poses in the same direction of the robot will have lower costs (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1529 Marker Detection opencv-aruco apriltag 6 0.000001000000000 0.001000000000000 0.001000000000000 m 4 -1.000000000000000 0.010000000000000 0.100000000000000 World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by a vertical line ("id1 x y z roll pitch yaw|id2 x y z roll pitch yaw"). Example: "1 0 0 1 0 0 0|2 1 0 1 0 0 1.57" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 999.000000000000000 1.000000000000000 0.000000000000000 Angular variance to set on marker detections. If variance is adjusted to ignore orientation (see below), the angular variance is ignored with Optimizer/Strategy=1 (g2o) and it corresponds to bearing variance with Optimizer/Strategy=2 (GTSAM). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID. Marker length. The length (m) of the markers' side. Value &lt;=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). Mouse over this label to see the difference between negative and 0. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Linear variance to set on marker priors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 9999.000000000000000 0.001000000000000 0.001000000000000 ARUCO_4X4_50 ARUCO_4X4_100 ARUCO_4X4_250 ARUCO_4X4_1000 ARUCO_5X5_50 ARUCO_5X5_100 ARUCO_5X5_250 ARUCO_5X5_1000 ARUCO_6X6_50 ARUCO_6X6_100 ARUCO_6X6_250 ARUCO_6X6_1000 ARUCO_7X7_50 ARUCO_7X7_100 ARUCO_7X7_250 ARUCO_7X7_1000 ARUCO_ORIGINAL APRILTAG_16h5 APRILTAG_25h9 APRILTAG_36h10 APRILTAG_36h11 ARUCO_MIP_36h12 Dictionary to use. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Linear variance to set on marker detections. If variance is adjusted to ignore orientation (see below) and Optimizer/Strategy=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Angular variance to set on marker priors. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for Optimizer/Strategy=1 (g2o), only Marker/VarianceLinear needs be set if we ignore orientation. For Optimizer/Strategy=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with Marker/VarianceLinear as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and Marker/VarianceAngular as the variance of the bearing factor (pitch/yaw). Adjust variance to ignore orientation during optimization. Mouseover for more details. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 999.000000000000000 1.000000000000000 0.000000000000000 Minimum detection range (0=disabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum detection range (0=unlimited). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum depth error between all corners of a marker when estimating the marker length (when marker length above is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 4 0.000100000000000 0.010000000000000 0.100000000000000 6 0.000001000000000 0.001000000000000 0.001000000000000 Detector implementation. Note that both aruco and apriltag dictionaries may be used with either strategy. Scroll down to see specific parameters for the strategy used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 9999.000000000000000 0.001000000000000 0.001000000000000 For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set "12 0.08|14 0.15|30:40 0.1" List of markers to detect. Format is the marker's ID followed by its length (in meters), markers are separated by a vertical line ("id1 length|id2 length"). We can also define a range of markers with "id1:id2 length" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on Marker Length. Mouse over this label for example. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 OpenCV Corner refinement method. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse None Subpixel Contour AprilTag 2 Qt::Vertical 0 0 AprilTag decode_sharpening: How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse nthreads: How many threads should be used? true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1 quad_decimate: Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse refine_edges: When true, the edges of the each quad are adjusted to "snap to" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if quad_decimate = 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse quad_sigma: What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse debug: When true, write a variety of debugging images to the working directory where the app started (not RTAB-Map's working directory) at various stages through the detection process. (Somewhat slow). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.000000000000000 0.050000000000000 0.250000000000000 1 0.000000000000000 99.900000000000006 0.100000000000000 0.000000000000000 1 1.000000000000000 2.000000000000000 Qt::Vertical 20 2627 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 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 Data buffer size (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents No filtering Kalman filtering Particle filtering Guess based on previous motion. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Frame to Map Frame to Frame Fovis Viso2 DVO ORB SLAM OKVIS LOAM MSCKF_VIO VINS-Fusion OpenVINS FLOAM Open3D CuVSLAM LIO-SAM Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.100000000000000 0.000000000000000 9999 100 [Geometry] Create a new keyframe when the number of inliers drops under this threshold. Setting value to 0 means that a keyframe is created for each processed frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If Visual Registration -> Visual Feature -> Depth as Mask is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Registration approach. Default means the same registration approach used in Motion Estimation panel (same used by the loop closure detector). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 QComboBox::AdjustToContents Visual Geometry (ICP) Visual + Geometry [Default] Fill info with data (inliers/outliers features to be shown in Odometry view). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Pose estimation filtering strategy. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Test odometry Align odometry with ground on initialization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999999 [Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 32 s 3 10.000000000000000 0.100000000000000 1.000000000000000 1.000000000000000 0.100000000000000 0.500000000000000 Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if a filtering strategy is set or the delay is below the odometry rate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry strategy. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999999 [Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 10 Frame to Map The approach maintains a local map of features to match to. It adds incrementally new points to local map up to maximum map size, then removes old points as new points are added. See "Motion Estimation" panel for registration parameters. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when Radius above is >0). 0 means any angle. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the laser scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999999 1 0 [Visual] Maximum keyframes per feature for bundle adjustment. 0 means not limit. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999999999 [Visual] Maximum map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum features. This will decrease odometry drifting when the camera is not moving. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0 180.000000000000000 0.000000000000000 [Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 -1.000000000000000 10.000000000000000 0.100000000000000 -1.000000000000000 999999 pixels 1 99.000000000000000 0.500000000000000 0.000000000000000 m 2 -99.000000000000000 0.100000000000000 0.000000000000000 [Visual] Gravity sigma used for bundle adjustment (<0, use same value than Optimizer/GravitySigma parameter) true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 0.025000000000000 [Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 1.000000000000000 0.050000000000000 0.750000000000000 [Visual] Floor threshold. Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999999 0 999999 1 0 m 0 9999.000000000000000 0.000000000000000 [Visual] Update 3D local feature map on every frames with bundle adjustment. Recommended if Vis/DepthAsMask=false and Mem/UseOdomFeatures=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Disabled g2o cvsba Ceres [Geometry] Maximum local scan map size (points). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.001000000000000 99.000000000000000 0.050000000000000 0.050000000000000 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 0 0 QComboBox::AdjustToContentsOnFirstShow Features Matching Optical Flow [Visual] Correspondences computation approach. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Visual] Correspondences computation: Optical Flow 1 999999 1 21 Window size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999999 1 30 Iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.001000000000000 1.000000000000000 0.010000000000000 0.010000000000000 Epsilon. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 3 Max level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000000000000000 1.000000000000000 0.000100000000000 0.000100000000000 [Eigen error measure] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000000000000000 9999.000000000000000 1.000000000000000 50.000000000000000 [L1 error measure] Filter out features with error greater than this threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use GPU. OpenCV built with CUDA required. Note that the error measure parameter is not used with the GPU implementation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Fovis <html><head/><body><p>Fast Odometry from VISion: <a href="https://github.com/srv/libfovis"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/srv/libfovis</span></a></p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Motion Estimator pix 1 999 25 3 999 10 The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum number of features in the inlier set for the motion estimate to be considered valid. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 1 0.100000000000000 9.900000000000000 0.100000000000000 1.500000000000000 true Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.010000000000000 9.990000000000000 0.010000000000000 0.100000000000000 pix 1 99.000000000000000 0.100000000000000 10.000000000000000 See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Specifies whether or not to refine feature matches to subpixel resolution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Features 1 999 20 true 3 0.001000000000000 1.000000000000000 0.001000000000000 0.005000000000000 FAST threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 1 3 The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 1 999 250 The minimum pyramid level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 1 9 The size of the n x n image patch surrounding each feature, used for keypoint matching. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Use FAST adaptive threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse FAST threshold adaptive gain. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use homography initialization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Bucket true Use bucketing. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 1 999 80 1 999 25 pix 1 999 80 true Bucket width. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Bucket height. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Max Keypoints per bucket. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use image normalization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Stereo 1 0.100000000000000 9.900000000000000 0.100000000000000 1.500000000000000 1 0.100000000000000 9.900000000000000 0.100000000000000 1.000000000000000 true Require mutual match. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999 128 Maximum distance to epipolar line. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Max refinement displacement. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Max disparity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Viso2 <html><head/><body><p>Library for Visual Odometry 2: <a href="http://www.cvlibs.net/software/libviso/"><span style=" text-decoration: underline; color:#0000ff;">http://www.cvlibs.net/software/libviso</span></a></p><p><span style=" font-weight:600;">Only stereo is supported.</span><br/></p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Fundamental matrix inlier threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Lower border weights (more robust to calibration errors). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Number of RANSAC iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999 10 200 pix 1 0.100000000000000 9.900000000000000 0.100000000000000 2.000000000000000 true Match Matching bin width/height (affects efficiency only). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Non-max-suppression: interest point peakiness threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Disparity tolerance for stereo matches (in pixels). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 1 99 1 3 Non-max-suppression: min. distance between maxima (in pixels). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Outlier removal: disparity tolerance (in pixels). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Match at half resolution, refine at full resolution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Multistage matching (denser and faster). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Outlier removal: flow tolerance (in pixels). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Matching radius (du/dv in pixels). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Refinement (0=none,1=pixel,2=subpixel). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999 1 50 pix 1 999 1 50 pix 1 999 10 200 pix 1 999 1 2 1 999 1 5 1 999 1 5 1 2 1 1 true true Bucket Width of bucket. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximal number of features per bucket. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Height of bucket. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse pix 0 1.000000000000000 999.000000000000000 1.000000000000000 50.000000000000000 pix 0 1.000000000000000 999.000000000000000 1.000000000000000 50.000000000000000 1 99 1 2 Qt::Vertical 20 0 DVO <html><head/><body><p>Dense Visual Odometry: <a href="https://github.com/tum-vision/dvo_slam"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/tum-vision/dvo_slam</span></a></p><p><span style=" font-weight:600;">Only RGB-D is supported.</span><br/></p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 ORB SLAM <html><head/><body><p>ORB SLAM2: <a href="https://github.com/raulmur/ORB_SLAM2"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/UZ-SLAMLab/ORB_SLAM3</span></a><br/>ORB SLAM3: <a href="https://github.com/UZ-SLAMLab/ORB_SLAM3"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/raulmur/ORB_SLAM2</span></a></p><p>Tracking and local mapping from ORB SLAM is done but loop closure detection is disabled, using RTAB-Map loop closure detection instead. See ORB panel for ORB parameters (pyramid scale and number of pyramids). See FAST panel for FAST parameters (init and min thresholds). Vis/MaxFeatures (see Visual Registration panel) is used as the number of ORB features extracted.<br/></p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse false 2 0.000000000000000 999.000000000000000 1.000000000000000 0.000000000000000 Fake IR projector baseline used only when stereo is not used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum ORB features extracted per frame. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Close/Far threshold. Baseline times. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 99999 1000 Camera FPS. This parameter is linked to "Input rate" of the Source panel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to ORB vocabulary (*.txt). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 4 0.000000000000000 9.999900000000000 0.010000000000000 0.076000000000000 1 0.100000000000000 999.000000000000000 1.000000000000000 40.000000000000000 999999 0 Enable IMU. true Only supported with ORB_SLAM3. Inter IMU publishing should be enabled (see Source panel under IMU Filtering section). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 1.000000000000000 0.010000000000000 Accelerometer "random walk". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Accelerometer "white noise". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Gyroscope "white noise". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 1.000000000000000 0.100000000000000 Gyroscope "random walk". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse IMU sampling rate (0 to estimate from input data). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 1.000000000000000 0.000001000000000 0.000001000000000 6 0.000001000000000 1.000000000000000 0.000100000000000 0.000100000000000 0 0.000000000000000 10000.000000000000000 0.000000000000000 Qt::Vertical 20 0 OKVIS <html><head/><body><p>OKVIS: <a href="https://github.com/ethz-asl/okvis"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/ethz-asl/okvis</span></a></p><p>IMU input required. Currently tested only with EuRoC data set.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to OKVIS config file (*.yaml). While OKVIS requires calibrations in the config file, they are ignored as those from received images are used instead. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Qt::Vertical 20 0 LOAM - FLOAM <html><head/><body><p>LOAM: <a href="https://github.com/laboshinl/loam_velodyne"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/laboshinl/loam_velodyne</span></a></p><p>Velodyne input required. Currently tested only with KITTI data set.</p><p>FLOAM: <a href="https://github.com/wh200720041/floam"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/wh200720041/floam</span></a></p><p>Other remapped parameters for FLOAM:</p><ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Icp/RangeMax (Max distance: set to 200 if 0)</li><li style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Icp/RangeMin (Min distance)</li></ul></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Angular output variance. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000100000000000 1.000000000000000 0.000100000000000 0.500000000000000 4 0.000100000000000 1.000000000000000 0.000100000000000 0.500000000000000 Scan period (s). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Linear output variance. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Velodyne sensor. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.010000000000000 1.000000000000000 0.100000000000000 0.500000000000000 Local mapping. It adds more time to compute odometry, but accuracy is significantly improved. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents VLP-16 HDL-32 HDL-64E Map resolution. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.010000000000000 9.000000000000000 0.000100000000000 0.200000000000000 Qt::Vertical 20 0 MSCKF_VIO <html><head/><body><p>MSCKF_VIO: <a href="https://github.com/KumarRobotics/msckf_vio"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/KumarRobotics/msckf_vio</span></a></p><p>Stereo and IMU inputs required.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Image processing 1 Grid row. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 Grid col. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Grid min feature num. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Grid max feature num. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Pyramid levels. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 Patch size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Fast threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Max iteration. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 1.000000000000000 0.100000000000000 0.500000000000000 Tracking precision. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.000000000000000 99.000000000000000 0.100000000000000 0.500000000000000 Ransac treshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.000000000000000 99.000000000000000 0.100000000000000 0.500000000000000 Stereo threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Odometry estimation Max cam state size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.000000000000000 99.000000000000000 0.100000000000000 0.500000000000000 Position std threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 99.000000000000000 0.100000000000000 0.500000000000000 Rotation threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 99.000000000000000 0.100000000000000 0.500000000000000 Translation threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 99.000000000000000 0.100000000000000 0.500000000000000 Tracking rate threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 99.000000000000000 0.100000000000000 0.500000000000000 Optimization translation threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 1.000000000000000 0.100000000000000 0.500000000000000 Noise gyro. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 1.000000000000000 0.100000000000000 0.500000000000000 Noise acceleration. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 1.000000000000000 0.100000000000000 0.500000000000000 Noise gyro bias. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 1.000000000000000 0.100000000000000 0.500000000000000 Noise acceleration bias. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 1.000000000000000 0.100000000000000 0.500000000000000 Noise feature. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 1.000000000000000 0.100000000000000 0.500000000000000 Initial covariance velocity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 5 1.000000000000000 0.100000000000000 0.500000000000000 Initial covariance gyro bias. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 1.000000000000000 0.100000000000000 0.500000000000000 Initial covariance acceleration bias. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 8 1.000000000000000 0.100000000000000 0.500000000000000 Initial covariance extrincic rotation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 1.000000000000000 0.100000000000000 0.500000000000000 Initial covariance extrinsic translation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 VINS-Fusion <html><head/><body><p>VINS-Fusion: <a href="https://github.com/HKUST-Aerial-Robotics/VINS-Fusion"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/HKUST-Aerial-Robotics/VINS-Fusion</span></a></p><p>IMU input optional depending on the parameters in the config file. Currently tested only with EuRoC data set.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Path to VINS-Fusion config file (*.yaml). While VINS-Fusion requires calibrations in the config file, they are ignored as those from received images are used instead. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Qt::Vertical 20 0 OpenVINS <html><head/><body><p>OpenVINS: <a href="https://github.com/rpng/open_vins"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/rpng/open_vins</span></a></p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Configuration file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter below. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Tracker Stereo mode. If we should process two cameras are being stereo or binocular. If binocular, we do monocular feature tracking on each image. Ignored if provided input data is not stereo. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse KLT tracking. Uncheck to use descriptor matcher. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10000 200 Number of points (per camera) we will extract and try to track. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 15 Minimum pixel distance. Will check after doing KLT track and remove any features closer than this. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If we should perform 1d triangulation instead of 3d. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If we should perform Levenberg-Marquardt refinement. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 5 Max runs for Levenberg-Marquardt. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1000.000000000000000 10.000000000000000 40.000000000000000 Max baseline ratio to accept triangulated features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 99999.000000000000000 1000.000000000000000 10000.000000000000000 Max condition number of linear triangulation matrix accept triangulated features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse State If first-estimate Jacobians should be used (enable for good consistency). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 QComboBox::AdjustToContents DISCRETE RK4 ANALYTICAL Numerical integration methods. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If the transform between camera and IMU should be optimized (R_ItoC, p_CinI). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If camera intrinsics should be optimized (focal, center, distortion). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If timeoffset between camera and IMU should be optimized. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If imu intrinsics should be calibrated (rotation and skew-scale matrix). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If gyroscope gravity sensitivity (Tg) should be calibrated. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 11 Max clone size of sliding window. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10000 50 Max number of estimated SLAM features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 10000 25 Max number of SLAM features we allow to be included in a single EKF update. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10000 50 Max number of MSCKF features we will use at a given image timestep. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 QComboBox::AdjustToContents GLOBAL_3D GLOBAL_FULL_INVERSE_DEPTH ANCHORED_3D ANCHORED_FULL_INVERSE_DEPTH ANCHORED_MSCKF_INVERSE_DEPTH ANCHORED_INVERSE_DEPTH_SINGLE What representation our features are in (msckf features). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 QComboBox::AdjustToContentsOnFirstShow GLOBAL_3D GLOBAL_FULL_INVERSE_DEPTH ANCHORED_3D ANCHORED_FULL_INVERSE_DEPTH ANCHORED_MSCKF_INVERSE_DEPTH ANCHORED_INVERSE_DEPTH_SINGLE What representation our features are in (slam features). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse s 0.000000000000000 0.500000000000000 0.000000000000000 Delay before initializing (helps with stability from bad initialization...). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 5 0.010000000000000 9.810000000000000 Magnitude of gravity in this location. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Mask for left image (stereo mode) or mono image (RGB-D mode). For RGB-D mode, to use depth as mask, enable that option under Visual Registration panel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Mask for right image. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Initializer s 0.000000000000000 0.500000000000000 2.000000000000000 Amount of time we will initialize over. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 10.000000000000000 0.100000000000000 1.000000000000000 Variance threshold on our acceleration to be classified as moving. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 0.100000000000000 10.000000000000000 Max disparity to consider the platform stationary (dependent on resolution). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10000 50 How many features to track during initialization (saves on computation). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If we should perform dynamic initialization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If we should optimize and recover the calibration in our MLE. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 50 Max number of MLE iterations for dynamic initialization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse s 0.000000000000000 0.010000000000000 0.050000000000000 Max time for MLE optimization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 6 Max number of MLE threads for dynamic initialization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 6 Number of poses to use during initialization (max should be cam freq * window). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse deg 0.000000000000000 45.000000000000000 10.000000000000000 Minimum degrees we need to rotate before we try to init (sum of norm). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 999.000000000000000 10.000000000000000 Magnitude we will inflate initial covariance of orientation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 999.000000000000000 100.000000000000000 Magnitude we will inflate initial covariance of velocity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 999.000000000000000 10.000000000000000 Magnitude we will inflate initial covariance of gyroscope bias. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 999.000000000000000 100.000000000000000 Magnitude we will inflate initial covariance of accelerometer bias. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 1.000000000000000 0.000000000001000 0.000000000000000 Minimum reciprocal condition number acceptable for our covariance recovery. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ZUPT If we should try to use zero velocity update. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 10.000000000000000 0.100000000000000 0.000000000000000 Chi2 multiplier for zero velocity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 1.000000000000000 0.100000000000000 0.100000000000000 Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 100.000000000000000 1.000000000000000 10.000000000000000 Multiplier of our zupt measurement IMU noise matrix (default should be 1.0). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 10.000000000000000 0.100000000000000 0.500000000000000 Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If we should only use the zupt at the very beginning static initialization phase. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Noise / Chi2 m/s^2/sqrt(Hz) 6 1.000000000000000 0.000100000000000 0.010000000000000 Accel "white noise". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m/s^3/sqrt(Hz) 6 1.000000000000000 0.000100000000000 0.001000000000000 Accel bias diffusion. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse rad/s/sqrt(Hz) 6 1.000000000000000 0.000100000000000 0.001000000000000 Gyro "white noise". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse rad/s^2/sqrt(Hz) 6 1.000000000000000 0.000100000000000 0.000100000000000 Gyro bias diffusion. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 10.000000000000000 0.100000000000000 1.000000000000000 Pixel noise for MSCKF features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 10.000000000000000 0.100000000000000 1.000000000000000 Chi2 multiplier for MSCKF features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 10.000000000000000 0.100000000000000 1.000000000000000 Pixel noise for SLAM features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 10.000000000000000 0.100000000000000 1.000000000000000 Chi2 multiplier for SLAM features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 Dummy-FLOAM Open3D <html><head/><body><p>Open3D: <a href="https://github.com/isl-org/Open3D"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/isl-org/Open3D</span></a></p><p>Working only with RGB-D cameras, preferably with TOF sensors. Note that visual keyframe threshold ratio parameter above is used with this odometry strategy.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 9999.000000000000000 1.000000000000000 3.000000000000000 Method. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents PointToPlane Intensity Hybrid Max depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 984 CuVSLAM <html><head/><body><p>CuVSLAM: <a href="https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam</span></a></p><p>Working only with stereo cameras with current integration. If Reg/Force3DoF is enabled, planar constraints will be used by CuVSLAM.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Multi-camera Mode true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Moderate Performance Precision Qt::Vertical 20 2069 LIO-SAM <html><head/><body><p>LIO-SAM: <a href="https://github.com/TixiaoShan/LIO-SAM"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/TixiaoShan/LIO-SAM</span></a></p><p>Tightly-coupled lidar-inertial odometry via smoothing and mapping. Requires 3D lidar with per-point ring and time fields (kXYZIRT scan format) and an IMU.</p><p>If a config file path is provided, the parameters below are ignored and read from the file instead.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Optional: path to LIO-SAM config YAML ... Config file path (overrides parameters below). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContents Velodyne Ouster Livox LiDAR sensor type. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 256 16 Number of LiDAR channels (16, 32, 64, 128). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 10000 1800 Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 1.000000000000000 0.001000000000000 0.010000000000000 IMU accelerometer white noise. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 1.000000000000000 0.000100000000000 0.001000000000000 IMU gyroscope white noise. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 1.000000000000000 0.000100000000000 0.000200000000000 IMU accelerometer bias noise. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 1.000000000000000 0.000010000000000 0.000030000000000 IMU gyroscope bias noise. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 5 0.000000000000000 20.000000000000000 0.010000000000000 9.805110000000001 Gravity magnitude. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000100000000000 100.000000000000000 0.100000000000000 1.000000000000000 Edge feature curvature threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000100000000000 100.000000000000000 0.010000000000000 0.100000000000000 Surface feature curvature threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000100000000000 1.000000000000000 0.001000000000000 0.010000000000000 Linear output variance. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000100000000000 1.000000000000000 0.001000000000000 0.010000000000000 Angular output variance. 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 Qt::Vertical 20 0 2 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 Qt::Vertical 20 0 Motion Estimation Visual Geometry (ICP) Visual + Geometry For the parameters for each registration approach, see the sub panels. Approaches with '+' means that both registrations are done in that order. true Force 2D transform (3DoF: x,y and yaw). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration. It can be useful if the registration approach used can use a guess to get better matches. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 1221 Visual Registration Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse QComboBox::AdjustToContentsOnFirstShow Disabled g2o cvsba Ceres Refine transformation with bundle adjustment. See Optimizer panel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 9999.000000000000000 Minimum correspondences to accept the estimated transformation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.500000000000000 0.010000000000000 QComboBox::AdjustToContentsOnFirstShow 3D to 3D 3D to 2D (PnP) 2D to 2D Maximum RANSAC iterations. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 1000 10 Motion estimation approach using 3D and/or 2D visual words correspondences. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 10000 1 100 Features Matching 0 QComboBox::AdjustToContents FLANN Linear FLANN KdTree FLANN LSH Brute Force Brute Force GPU Brute Force Cross Check PyMatcher GMS NanoFLANN KdTree FLANN KdTree Single Nearest neighbor strategy. FLANN LSH must be used only with binary feature detector. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.010000000000000 1.000000000000000 0.100000000000000 0.700000000000000 NNDR (Nearest Neighbor Distance 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 pixels 0 1000 16 Matching window size around projected points when a guess transform is provided to find correspondences. 0 means that global matching will be done. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 PyMatcher <html><head/><body><p>Python wrapper for python matcher like <a href="https://github.com/magicleap/SuperGluePretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperGlue</span></a> or <a href="https://github.com/zjhthu/OANet"><span style=" text-decoration: underline; color:#0000ff;">OANet</span></a>. Download the <a href="https://github.com/introlab/rtabmap/tree/master/corelib/src/python"><span style=" text-decoration: underline; color:#0000ff;">scripts</span></a> and copy them at the root folder of SuperGlue git or in demo folder of OANet respectively, then set its path below. <span style=" font-weight:600;">Important</span>: Only float descriptors are allowed and SuperGlue works only with SuperPoint descriptors! You may have to train a new model for the feature used.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Match threshold. Used by SuperGlue. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.001000000000000 1.000000000000000 0.010000000000000 0.200000000000000 Iterations. Used by SuperGlue. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Required] Path to rtabmap python script. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 20 Cuda. Used by SuperGlue. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse For SuperGlue, set only "indoor" or "outdoor". For OANet, set path to one of the pth file (e.g., "~/OANet/model/gl3d/sift-4000/model_best.pth"). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Qt::Vertical 0 0 GMS <html><head/><body><p>OpenCV implementation of <a href="https://github.com/JiawangBian/GMS-Feature-Matcher"><span style=" text-decoration: underline; color:#0000ff;">GMS</span></a>. Since GMS works well when the number of features is large, it is recommended to use the ORB feature and set FastThreshold to 0 to get as many as possible features quickly. If matching results are not satisfying, please add more features (they used 10000 for images of size 640 X 480). If your images have big rotation and scale changes, please set withRotation or withScale to true.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse With rotation. Take rotation transformation into account. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Theshold factor. The higher, the less matches. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.000000000000000 1000.000000000000000 0.010000000000000 0.200000000000000 With Scale. Take scale transformation into account. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 1 0 0 0 0 0 Motion estimation: 3D to 3D Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10000 1 10 m 3 0.001000000000000 0.010000000000000 0.020000000000000 Maximum distance accepted between visual word correspondences. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 0 0 0 0 0 Motion Estimation: 3D to 2D (PnP) Reprojection error. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Iterative EPNP P3P AUTO ANY HOMOGENEOUS pix 1 0.100000000000000 1.000000000000000 8.000000000000000 Flags. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000000000000000 99.000000000000000 0.100000000000000 0.000000000000000 Multi-camera random sampling policy. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Max linear variance between 3D point correspondences after PnP. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Reprojection error. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 999999 4 Refine iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 1 Compute variance for each linear component instead of using the combined XYZ variance for all linear components. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0 0 0 0 2D to 2D (Epipolar Geometry) Experimental! PnP parameters are also used here. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 0.000000000000000 0.001000000000000 0.020000000000000 Epipolar geometry maximum variance to accept the loop closure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Visual Feature false false The features are not extracted if the compared nodes have already features extracted. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use depth image as mask when extracting features. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If true, SSC (Suppression via Square Covering) is applied to limit keypoints. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum feature depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 99 1 Minimum feature depth. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Number of rows of the grid used to extract uniformly "max features / grid cells" features from each cell. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.000000000000000 0.100000000000000 Number of columns of the grid used to extract uniformly "max features / grid cells" features from each cell. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 999999 Max features extracted from the images (0 means inf). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 QComboBox::AdjustToContents SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF BRISK GFTT+ORB KAZE ORB OCTREE SuperPoint Torch SURF+FREAK GFTT+DAISY SURF+DAISY PyDetector SuperPoint Rpautrat Feature detector Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 0.000000000000000 60.000000000000000 1 99 1 ROI ratios [left right top bottom] between 0 and 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Filter floor from depth mask. 0 means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m -99.000000000000000 0.050000000000000 0.000000000000000 Sub Pixel Refining Refining corners to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 5 Window size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 20 Iterations. 0 disables sub pixel refining. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 0.001000000000000 0.100000000000000 0.010000000000000 0.030000000000000 Epsilon. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 0 0 Qt::Vertical 0 0 Qt::Vertical 20 40 ICP Registration Iterative closest point (ICP) parameters. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.000000000000000 1.000000000000000 0.010000000000000 0.700000000000000 Maximum range filtering. Set to 0 to disable. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1000 10 Uniform sampling voxel size. Set to 0 to disable. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 1000 20 Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are "pcd", "ply" or "vtk". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 3 0.000000000000000 0.010000000000000 0.005000000000000 0.010000000000000 Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when PointToPlane is enabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Structural-complexity metric. If unchecked (default), use the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T) — its smallest eigenvalue measures how well the surface normals span the ambient space, which correctly distinguishes perpendicular-surface scenes from corridors. If checked, use centered PCA (cv::PCA covariance) for backwards compatibility — but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 1.000000000000000 0.010000000000000 Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 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 Search radius 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 999999 1 1 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 2 0.000000000000000 1.000000000000000 0.000000000000000 Force 4 DoF: Limit ICP to x, y, z and yaw DoF. Available only with libpointmatcher or CCCoreLib strategies. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 1.000000000000000 0.010000000000000 Downsampling step of the cloud. Set to 1 to disable. This is done before uniform sampling. 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 2 0.010000000000000 1.000000000000000 0.100000000000000 0.850000000000000 3 0.001000000000000 9999.989999999999782 0.010000000000000 0.100000000000000 Outlier ratio used when ICP strategy is not PCL. For libpointmatcher, this parameter set TrimmedDistOutlierFilter / ratio for convenience when configuration file is not set. For CCCoreLib, this parameter set the "finalOverlapRatio". true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Structural complexity strategy. If structural complexity is below the minimum complexity threshold: 0 = reject the transform; 1 (default) = recompute with PointToPoint and limit ICP correction along the unconstrained axes (e.g. in a corridor, x is taken from the guess while y/yaw are still solved for); 2 = recompute with PointToPoint and accept the result "as is"; 3 = keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Reject Constrained PointToPoint PointToPoint Constrained PointToPlane 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 Max iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Point to plane ICP. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 6 0.000000000000000 1.000000000000000 0.010000000000000 0.000000000000000 Minimum range filtering. Set to 0 to disable. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse PCL (Point Cloud Library) libpointmatcher CCCoreLib (CloudCompare) rad 2 3.140000000000000 0.010000000000000 0.780000000000000 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 Strategy. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 10.000000000000000 0.010000000000000 0.200000000000000 Max distance for point correspondences. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 0.000000000000000 999.000000000000000 1.000000000000000 0.000000000000000 Reciprocal correspondences. To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Flag to enable filters above: 1="from" cloud only, 2="to" cloud only, 3=both. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 3 3 0 Point Cloud Library <html><head/><body><p><a href="https://pointclouds.org/documentation/classpcl_1_1_iterative_closest_point.html#details"><span style=" text-decoration: underline; color:#0000ff;">https://pointclouds.org/</span></a></p> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 380 libpointmatcher false <html><head/><body><p><a href="https://github.com/ethz-asl/libpointmatcher"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/ethz-asl/libpointmatcher</span></a></p><p>libpointmatcher is a modular library implementing the Iterative Closest Point (ICP) algorithm for aligning point clouds. It has applications in robotics and computer vision. When enabled, libpointmatcher is used for ICP registration instead of PCL's implementation.</p><p>Below we can set a <a href="https://github.com/ethz-asl/libpointmatcher/blob/master/doc/Configuration.md"><span style=" text-decoration: underline; color:#0000ff;">configuration file</span></a> (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., voxel filtering or downsampling above), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Maximum iterations, epsilon and max correspondence distance parameters are also ignored if configuration file is set.<br/></p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Configuration file (*.yaml). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.000000000000000 99.000000000000000 1.000000000000000 0.000000000000000 KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with knn>1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse CCCoreLib <html><head/><body><p><a href="https://github.com/CloudCompare/CCCoreLib"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/CloudCompare/CCCoreLib</span></a></p> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000001000000000 1.000000000000000 1.000000000000000 0.100000000000000 If true, the algorithm will automatically ignore farthest points from the reference, for better convergence. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 100 9999999 50000 Maximum final RMS error. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum number of points per cloud (they are randomly resampled below this limit otherwise). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 Qt::Vertical 20 40 Optimizer 0 10000 100 5 0.000000000000000 1000.000000000000000 0.001000000000000 0.001000000000000 Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Stop optimizing when the error improvement is less than this value. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Iterations. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Bundle Adjustement Disparity variance. Set higher if the depth source is noisier than the feature precision (e.g. stereo block matching at long range); set lower if depth is more accurate than 2d pixel location of the features (e.g. ToF / LiDAR-fused depth). true Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Observations with chi2 over this threshold will be ignored in the second optimization pass. true When doing bundle adjustment with RGB-D data, we can set a fake baseline to do stereo bundle adjustment (if 0, mono bundle adjustment is done). For stereo data, the baseline in the calibration is used directly. true 3 0.000000000000000 999.000000000000000 1.000000000000000 5.991000000000000 m 4 0.000000000000000 9.000000000000000 0.010000000000000 0.075000000000000 3 0.001000000000000 999.000000000000000 0.100000000000000 1.000000000000000 2 0.010000000000000 999.000000000000000 0.001000000000000 0.010000000000000 Pixel variance of the feature detection. Set higher if features are noisy (low texture, motion blur); set lower if features are sub-pixel. true g2o CSparse PCG Cholmod Eigen Solver. true Levenberg Gauss Newton Optimization algorithm. true GTSAM Levenberg Gauss Newton Dogleg iSAM2: Do graph optimization incrementally to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported in this mode. true Optimization algorithm. true 4 0.000100000000000 999.000000000000000 0.100000000000000 0.100000000000000 Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info. true 1 10000 10 Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info. true Qt::Vertical 20 2185 Stereo These parameters are used to find the 3D positions of visual words using disparity between the left and right images. Optical flow can be used to find corresponding corners in the right image of words extracted from the left image. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum disparity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 999999 1 30 Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum pyramid level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [OpticalFlow = true] Epsilon stop criterion. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999.000000000000000 Maximum iterations. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Window width. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [OpticalFlow = false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum disparity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 9999.000000000000000 4 0.000100000000000 0.100000000000000 0.010000000000000 0.010000000000000 3 999999 1 21 0 999999 1 3 Window height. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 999999 1 21 [OpticalFlow = true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000000000000000 1.000000000000000 0.000100000000000 0.000100000000000 [OpticalFlow = true / Eigen error measure] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000000000000000 9999.000000000000000 1.000000000000000 50.000000000000000 [OpticalFlow = true / L1 error measure] Filter out features with error greater than this threshold. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [OpticalFlow = true] Do optical flow on GPU. RTAB-Map should be built with OpenCV CUDA. Note that the error measure parameter is not used with the GPU implementation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 464 Stereo Dense StereoBM StereoSGBM 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 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 -999999 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 Disp 12 max diff. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -1 999999 1 21 Stereo correspondence approach (cv::StereoSGBM) implementing the modified H. Hirschmuller algorithm. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse P1. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 21 Disp 12 max diff. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 21 -1 999999 1 21 Pre-filter Cap. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum disparity. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 21 Block size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Number of disparities. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse -999999 999999 1 21 0 999999 1 21 3 999999 1 21 Uniqueness ratio. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Speckle window size. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Speckle range. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 21 0 999999 1 21 P2. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 999999 1 21 Mode. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse SGBM HH SGBM_3WAY Qt::Vertical 20 2367 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 The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Whether to enable precise upscaling in the scale pyramid. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Contrast threshold. The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse CudaSift: Use GPU version of SIFT. This option is enabled only RTAB-Map is built with CudaSift dependency and GPUs are detected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Sigma. The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 6 0.000000000000000 50000.000000000000000 0.001000000000000 0.006667000000000 0.100000000000000 10.000000000000000 CudaSift: Whether to enable upscaling. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Edge threshold. The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.010000000000000 100.000000000000000 0.100000000000000 4.500000000000000 0.100000000000000 10.000000000000000 RootSIFT. Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than gaussian threshold above). The lower the threshold, the less features with high response/hessian are produced by the detector. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 0.000000000000000 100.000000000000000 0.100000000000000 4.500000000000000 Qt::Vertical 20 40 FAST false 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 1 9999 50 Minimum threshold. Used when FAST/GridRows and FAST/GridCols are set or if ORBSLAM2 odometry is used. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true If true, non-maximum suppression is applied to detected corners (keypoints). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Enable FastCV implementation if non-zero. Values should be 9 and 10 to choose which FastCV approach is used.. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 10 0 OpenCV 2 1 9999 50 Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 9999 0 Grid rows (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 9999 0 Grid cols (0 to disable). Adapts a detector to partition the source image into a grid and detect points in each cell. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.010000000000000 0.050000000000000 Used with FAST GPU. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 BRIEF 1 1000 32 Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 660 ORB 1 1.200000000000000 Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 8 The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 31 This is size of the border where the features are not detected. It should roughly match the patchSize parameter. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 It should be 0 in the current implementation. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 2 WTA_K: The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 31 size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 FREAK true Enable orientation normalization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true Enable scale normalization. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 22.000000000000000 Scaling of the description pattern. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 Number of octaves covered by the detected keypoints. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 40 GFTT 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 1 1.000000000000000 true 4 0.000100000000000 1.000000000000000 0.010000000000000 0.010000000000000 K. Harris detector free parameter. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 1.000000000000000 0.010000000000000 0.040000000000000 Block size. Size of an average block for computing a derivative covariation matrix over each pixel neighborhood. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum possible Euclidean distance between the returned corners. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use Harris detector. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse GPU-GFTT: Use GPU version of GFTT. This option is available only if OpenCV>=3 is built with CUDA and GPUs are detected. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse true 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 KAZE Set to enable use of upright descriptors (non rotation-invariant). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Maximum octave evolution of the image. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Default number of sublevels per scale level. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 16 3 1 16 16 Set to enable extraction of extended (128-byte) descriptor. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000100000000000 9999.000000000000000 0.001000000000000 0.001000000000000 Detector response threshold to accept point. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3 3 Qt::Vertical 20 2487 SuperPoint Torch <html><head/><body><p>SuperPoint c++ implementation from <a href="https://github.com/KinglittleQ/SuperPoint_SLAM"><span style=" text-decoration: underline; color:#0000ff;">SuperPoint_SLAM</span></a> project based on pytorch. A <span style=" font-weight:600;">superpoint.pt</span> weights file can be downloaded from its Git. It should be the same weights file <a href="https://pytorch.org/tutorials/advanced/cpp_export.html"><span style=" text-decoration: underline; color:#0000ff;">converted</span></a> from <span style=" font-weight:600;">superpoint.pth</span> of the <a href="https://github.com/magicleap/SuperPointPretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperPointPretrainedNetwork</span></a> project.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... [Required] Path to pre-trained weights Torch file of SuperPoint. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 4 0.000100000000000 1.000000000000000 0.001000000000000 0.001000000000000 Detector response threshold to accept keypoint. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse If true, non-maximum suppression is applied to detected keypoints. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use Cuda device for Torch, otherwise CPU device is used by default. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum distance (pixels) between keypoints (when non-maximum suppression is enabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 0 PyDetector <html><head/><body><p>Python wrapper for python feature detector like <a href="https://github.com/magicleap/SuperPointPretrainedNetwork"><span style=" text-decoration: underline; color:#0000ff;">SuperPoint</span></a>. Download the <a href="https://github.com/introlab/rtabmap/tree/master/corelib/src/python"><span style=" text-decoration: underline; color:#0000ff;">script</span></a> and copy it at the root folder of SuperPoint git, then set its path below.</p></body></html> true true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse <html><head/><body><p>[Required] Path to python script file.</p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... Use Cuda device for Torch, otherwise CPU device is used by default. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Qt::Vertical 20 3128 SuperPoint Rpautrat <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">SuperPoint C++ implementation from the <a href="https://github.com/rpautrat/SuperPoint"><span style=" text-decoration: underline; color:#0000ff;">rpautrat/SuperPoint</span></a> project.</p> <p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A &quot;pt&quot; model file with same name than the &quot;pth&quot; file will be generated automatically in RTAB-Map's working directory so that the model can be called by c++ libtorch directly.</p> <p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">RTAB-Map must be built with libtorch and python to use this feature.<br /></p></body></html> true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Required] SuperPoint weights file (*.pth). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Detector response threshold to accept keypoint. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Use Cuda device for Torch, otherwise CPU device is used by default. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse ... 4 0.000100000000000 1.000000000000000 0.001000000000000 0.001000000000000 If true, non-maximum suppression is applied to detected keypoints. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Minimum distance (pixels) between keypoints (when non-maximum suppression is enabled). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse [Required] SuperPoint python model file (superpoint_pytorch.py). ... Qt::Vertical 20 4561 12 12 Qt::Horizontal QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults Basic true Advanced Qt::Horizontal QDialogButtonBox::Cancel|QDialogButtonBox::Ok UPlot QWidget

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

1 QMultiComboBox QComboBox

3rdParty/QMultiComboBox.h