diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp index 16f3425e..6d97fa2e 100644 --- a/guilib/src/MainWindow.cpp +++ b/guilib/src/MainWindow.cpp @@ -2566,14 +2566,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo { if(parametersModified.erase(Parameters::kRtabmapWorkingDirectory())) { - if(_state == kMonitoring || _state == kMonitoringPaused) - { - QMessageBox::information(this, tr("Working memory changed"), tr("The remote working directory can't be changed while the interface is in monitoring mode.")); - } - else - { - QMessageBox::information(this, tr("Working memory changed"), tr("The working directory can't be changed while the detector is running. This will be applied when the detector will stop.")); - } + QMessageBox::information(this, tr("Working memory changed"), tr("The working directory can't be changed while the detector is running. This will be applied when the detector will stop.")); } if(postParamEvent) { diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp index 5c954b43..25fae2f3 100644 --- a/guilib/src/PreferencesDialog.cpp +++ b/guilib/src/PreferencesDialog.cpp @@ -2953,11 +2953,11 @@ void PreferencesDialog::addParameter(const QObject * object, bool value) { // add all RGBD parameters! this->addParameters(_ui->groupBox_slam_update); - this->addParameters(_ui->groupBox_graphOptimization); - this->addParameters(_ui->groupBox_localDetection_time); - this->addParameters(_ui->groupBox_localDetection_space); + this->addParameters(_ui->groupBox_graphOptimization2); + this->addParameters(_ui->groupBox_proximityDetection2); this->addParameters(_ui->groupBox_visualTransform2); this->addParameters(_ui->groupBox_icp2); + this->addParameters(_ui->groupBox_pathPlanning2); } if(groupBox) diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui index 19bca84c..88f3d44c 100644 --- a/guilib/src/ui/preferencesDialog.ui +++ b/guilib/src/ui/preferencesDialog.ui @@ -64,8 +64,8 @@ 0 0 - 676 - 1982 + 681 + 1888 @@ -86,7 +86,7 @@ QFrame::Raised - 14 + 10 @@ -4446,825 +4446,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag - - - - - - RGB-D SLAM - - - false - - - - - - - - - - - - - - - Activate metric RGB-D SLAM. This module enables 6d metric SLAM directly in RTAB-Map. -If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to the graph and TORO optimizes the graph. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Map Update - - - - - - Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Local radius for nodes selection in the local map. This parameter is used in some approaches below. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - 2 - - - 1.000000000000000 - - - 0.100000000000000 - - - 0.100000000000000 - - - - - - - m - - - 3 - - - 0.100000000000000 - - - - - - - Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - rad - - - 2 - - - 3.140000000000000 - - - 0.100000000000000 - - - - - - - m - - - 1 - - - 99.000000000000000 - - - 0.100000000000000 - - - 1.000000000000000 - - - - - - - Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - - - - - Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using ICP (laser scans required!). - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority). - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - m - - - 1.000000000000000 - - - - - - - Ratio of working memory for which local nodes are immunized from transfer. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Re-extract visual features when computing loop closure transformations. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - - - - - - - - Graph Optimization - - - - - - - TORO - - - - - g2o - - - - - GTSAM - - - - - - - - 0 - - - 10000 - - - 100 - - - - - - - - - - - - - - - - - - - - - Optimize graph from the newest node. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Qt::Horizontal - - - - - - - - - - - - - - 2d SLAM: use fast 3DoF (x, y, theta) optimization instead of 6DoF (x, y, z, roll, pitch, yaw) optimization. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Graph optimization algorithm. - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - -If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation). - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - -If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Iterations. - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Stop optimizing when the error improvement is less than this value. - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - 5 - - - 0.000000000000000 - - - 1.000000000000000 - - - 0.001000000000000 - - - 0.001000000000000 - - - - - - - Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances). - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - - - - - Robust graph optimization using Vertigo (only for g2o and GTSAM optimization strategies). This approach can filter wrong loop closure detections. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - m - - - 2 - - - 0.000000000000000 - - - 100.000000000000000 - - - 1.000000000000000 - - - 1.000000000000000 - - - - - - - - - - Proximity Detection in Time - - - true - - - - - - Activate proximity detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. This generates more constraints in the map's graph, so more time is required to optimize the graph. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - Proximity Detection in Space - - - true - - - - - - Activate proximity detection over locations (in Working Memory) near in space. The locations are compared to those inside the local radius of the current estimated position of the robot (at a maximum distance of the path filtering radius below). If the laser scans are used, local locations are merged together and the current laser scan is compared to them. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - m - - - 2 - - - 0.100000000000000 - - - 1.000000000000000 - - - - - - - Path filtering radius to avoid merging laser scans which are close. 0 to ignore. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - - - - - 999 - - - 0 - - - - - - - Maximum graph depth between the current/last loop closure location and the proximity hypotheses. Set 0 to ignore. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - Save scan matching IDs in link's user data. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - - - - - Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP. - - - true - - - Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse - - - - - - - - - - - - - - - - - - - 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 - 0 - - - - - - @@ -6915,6 +6096,885 @@ see Sqlite3 doc 'PRAGMA temp_store'. + + + + + + RGB-D SLAM + + + false + + + + + + + + + + + + + + + Activate metric RGB-D SLAM. This module enables 6d metric SLAM directly in RTAB-Map. +If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to the graph and TORO optimizes the graph. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Map Update + + + + + + Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Local radius for nodes selection in the local map. This parameter is used in some approaches of the sub-panels. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + 2 + + + 1.000000000000000 + + + 0.100000000000000 + + + 0.100000000000000 + + + + + + + m + + + 3 + + + 0.100000000000000 + + + + + + + Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + rad + + + 2 + + + 3.140000000000000 + + + 0.100000000000000 + + + + + + + m + + + 1 + + + 99.000000000000000 + + + 0.100000000000000 + + + 1.000000000000000 + + + + + + + Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + + + + + Neighbor link refining. When a new node is added to the graph, the transformation of its neighbor link with the previous node is refined using ICP (laser scans required!). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + m + + + 1.000000000000000 + + + + + + + Ratio of working memory for which local nodes are immunized from transfer. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Re-extract visual features when computing loop closure transformations. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 0 + + + + + + + + + + + + Proximity Detection + + + + + + Proximity Detection in Time + + + true + + + + + + Activate proximity detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. This generates more constraints in the map's graph, so more time is required to optimize the graph. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + Proximity Detection in Space + + + true + + + + + + Activate proximity detection over locations (in Working Memory) near in space. The locations are compared to those inside the local radius of the current estimated position of the robot (at a maximum distance of the path filtering radius below). If the laser scans are used, local locations are merged together and the current laser scan is compared to them. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + m + + + 2 + + + 0.100000000000000 + + + 1.000000000000000 + + + + + + + Path filtering radius to avoid merging laser scans which are close. 0 to ignore. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + + + + + 999 + + + 0 + + + + + + + Maximum graph depth between the current/last loop closure location and the proximity hypotheses. Set 0 to ignore. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Save scan matching IDs in link's user data. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + + + + + Merge close laser scans on each path. If false, only the nearest laser scan on the path is used for ICP. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + + + + + + + + + + + + + Qt::Vertical + + + + 20 + 1396 + + + + + + + + + + + + Graph Optimization + + + + + + + TORO + + + + + g2o + + + + + GTSAM + + + + + + + + 0 + + + 10000 + + + 100 + + + + + + + + + + + + + + + + + + + + + Optimize graph from the newest node. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Qt::Horizontal + + + + + + + + + + + + + + 2d SLAM: use fast 3DoF (x, y, theta) optimization instead of 6DoF (x, y, z, roll, pitch, yaw) optimization. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Graph optimization algorithm. + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + -If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + -If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Iterations. + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Stop optimizing when the error improvement is less than this value. + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 5 + + + 0.000000000000000 + + + 1.000000000000000 + + + 0.001000000000000 + + + 0.001000000000000 + + + + + + + Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + + + + + Robust graph optimization using Vertigo (only for g2o and GTSAM optimization strategies). This approach can filter wrong loop closure detections. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + m + + + 2 + + + 0.000000000000000 + + + 100.000000000000000 + + + 1.000000000000000 + + + 1.000000000000000 + + + + + + + + + + Qt::Vertical + + + + 20 + 1338 + + + + + + + + + + + + Path Planning + + + + + + If the goal is too far (>local radius) from the graph, the plan is aborted. The next goal in the graph can't be farther than the local radius around the current position. Anticipated nodes on the path are retrieved in the local radius up to "Maximum local locations retrieved". A virtual link is added between the current location and the nearest one on the path up to local radius. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + m + + + 1.000000000000000 + + + + + + + Goal reached radius. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#". + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + + + + + Mark the current goal node on the path as unreachable if it a new goal is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails. + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + 9999 + + + + + + + m/s + + + 0.100000000000000 + + + 0.000000000000000 + + + + + + + rad/s + + + 10.000000000000000 + + + 0.000000000000000 + + + + + + + Linear velocity used to compute path weights based on time instead of distance (0=disabled). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + Angular velocity used to compute path weights based on time instead of distance. Paths with poses in the same direction of the robot will have lower costs (0=disabled). + + + true + + + Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse + + + + + + + + + + + + Qt::Vertical + + + + 20 + 1529 + + + + + +