preferencesDialog 0 0 1166 978 0 0 Preferences :/images/RTAB-Map.ico:/images/RTAB-Map.ico 180 0 QAbstractItemView::NoEditTriggers false 0 QFrame::Raised 3 General settings (GUI) true Keep images received. Used to show the loop closure image. (The cache can be cleared with the related action in the Edit menu). true 2 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR Logger level. true Logger print time. 2 QComboBox::AdjustToContents No log Console File Logger type: when using the file type, logs are saved in Logrtabmap.txt (located in the working directory). true Vertical layout used for the main window. false true Show image when an hypothesis is rejected. true Flip image (as like a mirror). false Logger event sent level (fatal messages are always sent). true 3 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR 4 QComboBox::AdjustToContents DEBUG INFO WARNING ERROR FATAL Beep! on special events (finished processing the data set, an error has occured, ...). true 0 100 16 Qt::Horizontal Keypoints opacity. true Show the image of the highest hypothesis. true false Logger level on which the process will automatically pause, showing the log console. A level set under the logger event level will do nothing. true Save/load configurations Save all configurations to ... Load all configurations from ... Qt::Vertical 0 0 Source 1 100.000000000000000 0.100000000000000 1.000000000000000 Input rate (images/s, audio frames/s). Image source true 0 Usb camera Images Video file Source type. 0-Usb camera (Webcam), 1-Images (directory of images), 2-Video (AVI), 3-Database (RTAB-Map's database). true Auto restart. Image width (set to 0 to use the default size of the source). true Image height (set to 0 to use the default size of the source). true 0 999999999 160 0 0 999999999 120 0 Keypoints extraction post threatement. Frames dropped (ignore X frames after each frame acquired, used to decrease source framerate) true 0 999999999 1 0 2 Usb device -1 999999999 0 Usb device. Qt::Vertical 0 0 Images dataset ... false 0 999999999 Start position (default 1, 0=start from the last). Refresh the directory files list after each image loaded. Qt::Vertical 0 0 Video (AVI) ... false Qt::Vertical 0 0 Audio source true false 0 Mic Audio file Source type. 0-Mic (Microphone), 1-Audio file (WAV, MP3,...). true 1 Mic -1 999999999 0 Mic device. 4800 999999999 48000 fs (sampling frequency) Sample size (1, 2 or 4 bytes... e.g. 2=16bits per sample) 1 4 2 Qt::Vertical 0 0 Audio file (WAV, MP3, ...) ... false Play sound while recording from the file. Qt::Vertical 0 0 Database source true false ... Qt::Vertical 0 0 RTAB-Map settings 0 10000.000000000000000 50.000000000000000 700.000000000000000 T_time : Max time (ms) allowed (0 means inf). true 1.000000000000000 0.010000000000000 0.950000000000000 T_loop : Loop closure threshold. true 0 50000.000000000000000 500.000000000000000 T_response : SURF hessian threshold. Images buffer size (0 means inf). true true Publish statistics. true true ... Working directory (where the database is saved/loaded). true 1.000000000000000 0.010000000000000 0.500000000000000 999 1 T_similarity : Similarity threshold (set to 1 to disable Rehearsal/Weight Update). true 1 9999 15 STM size : Short-term memory size. true Memory/signature type. 0-Keypoint (bag-of-words detection), 1-Sensorimotor (experimental). true Keypoint Sensorimotor Qt::Vertical 0 0 RTAB-Map settings true Publish statistics (when false, this disables other "Publish *"). true T_time : Max time (ms) allowed (0 means inf). true 999 1 Images buffer size (0 means inf). true 1.000000000000000 0.010000000000000 0.950000000000000 T_loop : Loop closure threshold. Setting to 0 means that the new place hypothesis is used as threshold. true T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue. true 1.000000000000000 0.010000000000000 0.700000000000000 true Working directory (where the database is saved/loaded). true ... 999 1 2 Maximum locations retrieved at the same time from LTM to WM. true true Actions sent also on rejected hypotheses. true Actions are not sent when the loop closure hypothesis is under the confidence threshold. true 3 1.000000000000000 0.010000000000000 0.000000000000000 0 10000.000000000000000 50.000000000000000 700.000000000000000 99999 0 Neighborhood summation for hypothesis selection. true false Remove std dev on likelihood normalization. true true Maximum signatures allowed in Working Memory (0 means inf). true Highest neighbor likelihood for hypothesis selection. true false Publish raw data (images). Publish pdf. Publish likelihood. true true true Ignore null values on likelihood normalization. true true Qt::Vertical 0 0 Bayes filter Prediction probabilities for each loop closure event: We can edit how will like the prediction used in the Bayes filter when there is a loop closure hypothesis. Format is [VP LC N1 N2 N3...]. LC is the loop closure event and N# are its neighbors. VP (virtual place) is the probability to be in a new place when a loop closure was found on the last iteration. true Prediction Sum false Preview 1.000000000000000 0.010000000000000 0.900000000000000 The VP here is the probability to be in a new place since no loop closure was found on the last iteration. true Make prediction on non-null action neighbors only true (NOTE) If you want to use the virtual place (VP) probability, the option "Common signature used" in the Memory panel must be set to true (this will update the common signature representing the virtual place). true Qt::Vertical 0 0 Memory strategy 50 0 1.000000000000000 0.010000000000000 0.150000000000000 Retrieval threshold. false Retrieved words are compared to the last words added in the dictionary (which are not yet indexed, may be add a time overhead for a minor likelihood improvement). true 1 9999 15 STM size : Short-term memory size. false true Incremental Memory. false false Common signature used (virtual place). false 50 0 1.000000000000000 0.010000000000000 0.200000000000000 T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred. true Keypoint Sensorimotor Memory/signature type. 0-Keypoint (bag-of-words detection), 1-Sensorimotor (experimental). true Qt::Vertical 0 0 Database true Keep raw data (images) . true 999 20 9999 10 200 10 999999 100 2000 Sqlite3 cache size, see Sqlite3 doc 'PRAGMA cache_size'. true DELETE TRUNCATE PERSIST MEMORY OFF Sqlite3 journal mode, see Sqlite3 doc 'PRAGMA journal_mode'. true Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory). true (KeypointMemory) Minimum visual words needed in the trash to save them. The trash thread will save in a chunk instead of small database queries. true Minimum signatures needed in the trash to save them. The trash thread will save in a chunk instead of small database queries. true Compress images when saving to database. true true Sqlite3 synchronous, see Sqlite3 doc 'PRAGMA synchronous'. true Sqlite3 temp store, see Sqlite3 doc 'PRAGMA temp_store'. true 2 OFF NORMAL FULL DEFAULT FILE MEMORY Qt::Vertical 0 0 Rehearsal / Weight Update 1.000000000000000 0.010000000000000 0.500000000000000 T_similarity : Similarity threshold (set to 1 to disable Rehearsal/Weight Update). Only compare to the last signature in STM, otherwise all signatures in STM are compared. true The data of the new location is cleared, then old location's data is copied back to new one. The similarity threshold may be also lower than without data copied. true Qt::Vertical 0 0 Keypoints Bottom ROI ratio (0 = no change). true true Right ROI ratio (0 = no change). true Top ROI ratio (0 = no change). true % 0 Left ROI ratio (0 = no change). true % 0 % 0 % 0 Use the tf-idf method to compute the likelihood. true true If the dictionary update and signature creation were parallelized. true SURF SIFT BRIEF Color Hue Keypoint descriptor. true true Keypoint detector. true ROI ratios [left, right, top, bottom]. true If tf-idf weighting is normalized by the words count ratio between compared signatures. true true SURF Star SIFT FAST Publish keypoints. true true 0 2000 150 0 means that the response (hessian) threshold used for the detector will not be adapted. Otherwise, the threshold is modified to generate the number of words requested. Words per image target. true 2 0.000000000000000 1.000000000000000 0.050000000000000 0.250000000000000 0 means that the response (hessian) threshold used for the detector will not be adapted. Otherwise, the threshold is modified to generate the number of words requested. Bad signature ratio (less than Ratio x AverageWordsPerImage = bad). true Qt::Vertical 0 0 SURF detector/descriptor 0 50000.000000000000000 500.000000000000000 Hessian threshold. 1 100000 4 Octaves. 1 100000 2 Octave layers. false GPU version (as well for descriptor) - OpenCV must be compiled with CUDA from NVidia, otherwise, the application may crash if set. true U-SURF used. true Descriptor extended (true=128, false=64). true Qt::Vertical 694 545 Star detector 1 128 45 Maximum size. 1 100000 30 Response threshold. 1 100000 10 Line threshold projected. 1 100000 8 Line threshold binarized. 1 100000 5 Suppress Nonmax size. Qt::Vertical 0 0 SIFT detector/descriptor Sigma. 6 0.000000000000000 50000.000000000000000 0.001000000000000 0.006667000000000 Contrast threshold. Edge threshold. 0.100000000000000 10.000000000000000 0.100000000000000 10.000000000000000 nOctaveLayers. nFeatures. Qt::Vertical 0 0 FAST detector Threshold. NonmaxSuppression. 999 10 Qt::Vertical 0 0 BRIEF descriptor Descriptor size (16, 32 or 64). true 16 64 32 Qt::Vertical 0 0 Dictionary QComboBox::AdjustToContents Naive KdTree OpenCV KdForest FLANN Nearest neighbor strategy. true Use an incremental dictionary. 999.990000000000009 0.010000000000000 0.160000000000000 Minimum distance (for the nearest neighbor) Lower the distance -> higher the precision. false true 999.990000000000009 0.010000000000000 0.700000000000000 NNDR ratio (A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor) Lower the ratio -> higher the precision. true Use nearest neighbor distance ratio approach (NNDR). true Use a minimum distance for the nearest neighbor. true true Maximum number of leafs checked (when using kd-trees). true 1024 64 ... Path to a pre-computed dictionary (when "Use an incremental dictionary" is not set). true Qt::Vertical 0 0 0 0 Sensorimotor dB 0 1000.000000000000000 Color table size Use log-polar images. true 0 8 16 32 64 128 256 512 1024 65536 Publish masks. true Use motion masks. true Audio dB threshold (0 dB means no threshold) true Decibel (dB) indexing (otherwise it's squared magnitude indexing) true Make audio signature magnitude-invariant true true Qt::Vertical 0 0 0 0 Hypotheses verification strategies QComboBox::AdjustToContents No verification Similarity Epipolar constraints Hypotheses verification. Qt::Vertical 0 0 Similarity verification 2 0.990000000000000 0.010000000000000 0.500000000000000 Minimum similarity to accept an hypothesis. true Qt::Vertical 0 0 Epipolar constraints 8 100000 11 Minimum match count to accept a loop closure. true 1 10.000000000000000 0.100000000000000 3.000000000000000 Fundamental Matrix : Distance (pixels) for inliers. true 2 0.990000000000000 0.010000000000000 0.990000000000000 Fundamental Matrix : Ransac performance. true Qt::Vertical 0 0 12 12 Qt::Horizontal QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults Basic true Advanced Qt::Horizontal QDialogButtonBox::Cancel|QDialogButtonBox::Ok UPlot QWidget

utilite/UPlot.h

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