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Odom sensor option (#726)

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* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11
This commit is contained in:
matlabbe
2021-05-23 17:21:12 -04:00
committed by GitHub
parent fe896260c5
commit 21dbeed4b7
25 changed files with 1532 additions and 728 deletions
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3
guilib/include/rtabmap/gui/CalibrationDialog.h
View File

@@ -57,6 +57,9 @@ public:
const rtabmap::StereoCameraModel & getStereoCameraModel() const {return stereoModel_;}
bool isProcessing() const {return processingData_;}
int getStereoPairs() const {return (int)stereoImagePoints_[0].size();}
int boardWidth() const;
int boardHeight() const;
double squareSize() const;
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");

7
guilib/include/rtabmap/gui/PreferencesDialog.h
View File

@@ -165,6 +165,8 @@ public:
int getOdomRegistrationApproach() const;
double getOdomF2MGravitySigma() const;
bool isOdomDisabled() const;
bool isOdomSensorAsGt() const;
double getOdomSensorScaleFactor() const;
bool isGroundTruthAligned() const;
bool isGraphsShown() const;
@@ -249,6 +251,7 @@ public:
PreferencesDialog::Src getSourceDriver() const;
QString getSourceDriverStr() const;
QString getSourceDevice() const;
PreferencesDialog::Src getOdomSourceDriver() const;
bool isSourceDatabaseStampsUsed() const;
bool isSourceDatabaseStereoToDepth() const;
@@ -277,6 +280,7 @@ public:
QString getIMUPath() const;
int getIMURate() const;
Camera * createCamera(bool useRawImages = false, bool useColor = true); // return camera should be deleted if not null
Camera * createOdomSensor(Transform & extrinsics, double & timeOffset); // return camera should be deleted if not null
int getIgnoredDCComponents() const;
@@ -314,6 +318,7 @@ public Q_SLOTS:
void selectSourceDriver(Src src, int variant = 0);
void calibrate();
void calibrateSimple();
void calibrateOdomSensorExtrinsics();
private Q_SLOTS:
void closeDialog ( QAbstractButton * button );
@@ -353,6 +358,7 @@ private Q_SLOTS:
void visualizeDistortionModel();
void selectSourceDatabase();
void selectCalibrationPath();
void selectOdomSensorCalibrationPath();
void selectSourceImagesStamps();
void selectSourceRGBDImagesPathRGB();
void selectSourceRGBDImagesPathDepth();
@@ -409,6 +415,7 @@ private:
void addParameters(const QGroupBox * box);
QList<QGroupBox*> getGroupBoxes();
void readSettingsBegin();
Camera * createCamera(Src driver, const QString & device, const QString & calibrationPath, bool useRawImages, bool useColor, bool odomOnly); // return camera should be deleted if not null
protected:
PANEL_FLAGS _obsoletePanels;