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Added OdometryFLOAM (Odom/Strategy=11)

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This commit is contained in:
matlabbe
2021-09-09 17:38:54 -04:00
parent 263e0170f1
commit 3ba02d2ef6
14 changed files with 337 additions and 19 deletions
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CMakeLists.txt
+29 -4
View File
@@ -187,6 +187,7 @@ option(WITH_CVSBA "Include cvsba support" ON)
option(WITH_POINTMATCHER "Include libpointmatcher support" ON)
option(WITH_CCCORELIB "Include CCCoreLib support" ON)
option(WITH_LOAM "Include LOAM support" ON)
option(WITH_FLOAM "Include FLOAM support" ON)
option(WITH_FLYCAPTURE2 "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED "Include ZED sdk support" ON)
option(WITH_ZEDOC "Include ZED Open Capture support" ON)
@@ -493,6 +494,14 @@ IF(WITH_LOAM)
ENDIF(loam_velodyne_FOUND)
ENDIF(WITH_LOAM)
IF(WITH_FLOAM)
find_package(floam QUIET)
IF(floam_FOUND)
MESSAGE(STATUS "Found floam: ${floam_INCLUDE_DIRS}")
FIND_PACKAGE(Ceres QUIET REQUIRED)
ENDIF(floam_FOUND)
ENDIF(WITH_FLOAM)
SET(ZED_FOUND FALSE)
IF(WITH_ZED)
find_package(ZED 2 QUIET)
@@ -635,9 +644,14 @@ IF(WITH_OKVIS)
ENDIF(WITH_OKVIS)
# If built with okvis, we found already ceres above
IF(NOT okvis_FOUND AND WITH_CERES)
IF(WITH_CERES)
IF(NOT okvis_FOUND AND NOT floam_FOUND)
FIND_PACKAGE(Ceres QUIET)
ENDIF(NOT okvis_FOUND AND WITH_CERES)
MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
ENDIF(NOT okvis_FOUND AND NOT floam_FOUND)
ELSEIF(Ceres_FOUND)
MESSAGE(WARNING "WITH_CERES is OFF, but it still included by dependencies Okvis or FLOAM")
ENDIF()
IF(WITH_MSCKF_VIO)
FIND_PACKAGE(msckf_vio QUIET)
@@ -678,7 +692,7 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
IF(NOT MSVC)
IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
IF(loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
#LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
@@ -688,7 +702,7 @@ IF(NOT MSVC)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
ENDIF()
ENDIF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
ENDIF(loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
G2O_FOUND OR
@@ -813,6 +827,9 @@ ENDIF(NOT PDAL_FOUND)
IF(NOT loam_velodyne_FOUND)
SET(LOAM "//")
ENDIF(NOT loam_velodyne_FOUND)
IF(NOT floam_FOUND)
SET(FLOAM "//")
ENDIF(NOT floam_FOUND)
IF(NOT Freenect_FOUND)
SET(FREENECT "//")
ELSE()
@@ -1469,6 +1486,14 @@ ELSE()
MESSAGE(STATUS " With loam_velodyne = NO (loam_velodyne not found)")
ENDIF()
IF(floam_FOUND)
MESSAGE(STATUS " With floam = YES (License: BSD)")
ELSEIF(NOT WITH_FLOAM)
MESSAGE(STATUS " With floam = NO (WITH_FLOAM=OFF)")
ELSE()
MESSAGE(STATUS " With floam = NO (floam not found)")
ENDIF()
IF(libfovis_FOUND)
MESSAGE(STATUS " With libfovis = YES (License: GPLv2)")
ELSEIF(NOT WITH_FOVIS)
Version.h.in
+1
View File
@@ -55,6 +55,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@FASTCV@#define RTABMAP_FASTCV
@PDAL@#define RTABMAP_PDAL
@LOAM@#define RTABMAP_LOAM
@FLOAM@#define RTABMAP_FLOAM
@DC1394@#define RTABMAP_DC1394
@FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
@ZED@#define RTABMAP_ZED
corelib/include/rtabmap/core/Odometry.h
+2 -1
View File
@@ -54,7 +54,8 @@ public:
kTypeLOAM = 7,
kTypeMSCKF = 8,
kTypeVINS = 9,
kTypeOpenVINS = 10
kTypeOpenVINS = 10,
kTypeFLOAM = 11
};
public:
corelib/include/rtabmap/core/Parameters.h
+1 -1
View File
@@ -432,7 +432,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion");
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
RTABMAP_PARAM(Odom, Holonomic, bool, true, "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)).");
RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
corelib/include/rtabmap/core/odometry/OdometryFLOAM.h
+64
View File
@@ -0,0 +1,64 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ODOMETRYFLOAM_H_
#define ODOMETRYFLOAM_H_
#include <rtabmap/core/Odometry.h>
class LaserProcessingClass;
class OdomEstimationClass;
namespace rtabmap {
class RTABMAP_EXP OdometryFLOAM : public Odometry
{
public:
OdometryFLOAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
virtual ~OdometryFLOAM();
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeFLOAM;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_FLOAM
LaserProcessingClass * laserProcessing_;
OdomEstimationClass * odomEstimation_;
Transform lastPose_;
bool lost_;
float linVar_;
float angVar_;
#endif
};
}
#endif /* ODOMETRYFLOAM_H_ */
corelib/src/CMakeLists.txt
+12
View File
@@ -89,6 +89,7 @@ SET(SRC_FILES
odometry/OdometryOkvis.cpp
odometry/OdometryORBSLAM.cpp
odometry/OdometryLOAM.cpp
odometry/OdometryFLOAM.cpp
odometry/OdometryMSCKF.cpp
odometry/OdometryVINS.cpp
odometry/OdometryOpenVINS.cpp
@@ -489,6 +490,17 @@ IF(loam_velodyne_FOUND)
)
ENDIF(loam_velodyne_FOUND)
IF(floam_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${floam_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${floam_LIBRARIES}
)
ENDIF(floam_FOUND)
IF(ZED_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
corelib/src/Odometry.cpp
+4
View File
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/odometry/OdometryOkvis.h"
#include "rtabmap/core/odometry/OdometryORBSLAM.h"
#include "rtabmap/core/odometry/OdometryLOAM.h"
#include "rtabmap/core/odometry/OdometryFLOAM.h"
#include "rtabmap/core/odometry/OdometryMSCKF.h"
#include "rtabmap/core/odometry/OdometryVINS.h"
#include "rtabmap/core/odometry/OdometryOpenVINS.h"
@@ -90,6 +91,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
case Odometry::kTypeLOAM:
odometry = new OdometryLOAM(parameters);
break;
case Odometry::kTypeFLOAM:
odometry = new OdometryFLOAM(parameters);
break;
case Odometry::kTypeMSCKF:
odometry = new OdometryMSCKF(parameters);
break;
corelib/src/camera/CameraStereoImages.cpp
+3 -2
View File
@@ -83,6 +83,8 @@ CameraStereoImages::~CameraStereoImages()
bool CameraStereoImages::init(const std::string & calibrationFolder, const std::string & cameraName)
{
UINFO("Calibration folder: \"%s\", name=\"%s\"", calibrationFolder.c_str(), cameraName.c_str());
// look for calibration files
if(!calibrationFolder.empty() && !cameraName.empty())
{
@@ -105,8 +107,7 @@ bool CameraStereoImages::init(const std::string & calibrationFolder, const std::
stereoModel_.setName(cameraName);
if(this->isImagesRectified() && !stereoModel_.isValidForRectification())
{
UERROR("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid.");
return false;
UWARN("Parameter \"rectifyImages\" is set, but no stereo model is loaded or valid for rectification. This can be ignored if input images are already rectified.");
}
//desactivate before init as we will do it in this class instead for convenience
corelib/src/odometry/OdometryFLOAM.cpp
+194
View File
@@ -0,0 +1,194 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "rtabmap/core/odometry/OdometryFLOAM.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/core/util3d.h"
#include <pcl/common/transforms.h>
#ifdef RTABMAP_FLOAM
#include <laserProcessingClass.h>
#include <odomEstimationClass.h>
#endif
namespace rtabmap {
/**
* https://github.com/wh200720041/floam
*/
OdometryFLOAM::OdometryFLOAM(const ParametersMap & parameters) :
Odometry(parameters)
#ifdef RTABMAP_FLOAM
,laserProcessing_(new LaserProcessingClass())
,odomEstimation_(new OdomEstimationClass())
,lastPose_(Transform::getIdentity())
,lost_(false)
#endif
{
#ifdef RTABMAP_FLOAM
int sensor = Parameters::defaultOdomLOAMSensor();
double vertical_angle = 2.0; // seems not used by floam (https://github.com/wh200720041/floam/issues/31)
float scan_period= Parameters::defaultOdomLOAMScanPeriod();
float max_dis = Parameters::defaultIcpRangeMax();
float min_dis = Parameters::defaultIcpRangeMin();
float map_resolution = Parameters::defaultIcpVoxelSize();
linVar_ = Parameters::defaultOdomLOAMLinVar();
angVar_ = Parameters::defaultOdomLOAMAngVar();
Parameters::parse(parameters, Parameters::kOdomLOAMSensor(), sensor);
Parameters::parse(parameters, Parameters::kOdomLOAMScanPeriod(), scan_period);
Parameters::parse(parameters, Parameters::kIcpRangeMax(), max_dis);
Parameters::parse(parameters, Parameters::kIcpRangeMin(), min_dis);
Parameters::parse(parameters, Parameters::kIcpVoxelSize(), map_resolution);
UASSERT(scan_period>0.0f);
Parameters::parse(parameters, Parameters::kOdomLOAMLinVar(), linVar_);
UASSERT(linVar_>0.0f);
Parameters::parse(parameters, Parameters::kOdomLOAMAngVar(), angVar_);
UASSERT(angVar_>0.0f);
lidar::Lidar lidar_param;
lidar_param.setScanPeriod(scan_period);
lidar_param.setVerticalAngle(vertical_angle);
lidar_param.setLines(sensor==2?64:sensor==1?32:sensor);
lidar_param.setMaxDistance(max_dis<=0?200:max_dis);
lidar_param.setMinDistance(min_dis);
laserProcessing_->init(lidar_param);
odomEstimation_->init(lidar_param, map_resolution);
#endif
}
OdometryFLOAM::~OdometryFLOAM()
{
#ifdef RTABMAP_FLOAM
delete laserProcessing_;
delete odomEstimation_;
#endif
}
void OdometryFLOAM::reset(const Transform & initialPose)
{
Odometry::reset(initialPose);
#ifdef RTABMAP_FLOAM
lastPose_.setIdentity();
lost_ = false;
#endif
}
// return not null transform if odometry is correctly computed
Transform OdometryFLOAM::computeTransform(
SensorData & data,
const Transform & guess,
OdometryInfo * info)
{
Transform t;
#ifdef RTABMAP_FLOAM
UTimer timer;
if(data.laserScanRaw().isEmpty())
{
UERROR("LOAM works only with laser scans and the current input is empty. Aborting odometry update...");
return t;
}
else if(data.laserScanRaw().is2d())
{
UERROR("LOAM version used works only with 3D laser scans from Velodyne. Aborting odometry update...");
return t;
}
cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1)*9999;
if(!lost_)
{
pcl::PointCloud<pcl::PointXYZI>::Ptr laserCloudInPtr = util3d::laserScanToPointCloudI(data.laserScanRaw(), data.laserScanRaw().localTransform());
pcl::PointCloud<pcl::PointXYZI>::Ptr pointcloud_edge(new pcl::PointCloud<pcl::PointXYZI>());
pcl::PointCloud<pcl::PointXYZI>::Ptr pointcloud_surf(new pcl::PointCloud<pcl::PointXYZI>());
laserProcessing_->featureExtraction(laserCloudInPtr,pointcloud_edge,pointcloud_surf);
if(this->framesProcessed() == 0){
odomEstimation_->initMapWithPoints(pointcloud_edge, pointcloud_surf);
}else{
odomEstimation_->updatePointsToMap(pointcloud_edge, pointcloud_surf);
}
Transform pose = Transform::fromEigen3d(odomEstimation_->odom);
if(!pose.isNull())
{
covariance = cv::Mat::eye(6,6,CV_64FC1);
covariance(cv::Range(0,3), cv::Range(0,3)) *= 0.01;
covariance(cv::Range(3,6), cv::Range(3,6)) *= 0.01;
t = lastPose_.inverse() * pose; // incremental
lastPose_ = pose;
const Transform & localTransform = data.laserScanRaw().localTransform();
if(!t.isNull() && !t.isIdentity() && !localTransform.isIdentity() && !localTransform.isNull())
{
// from laser frame to base frame
t = localTransform * t * localTransform.inverse();
}
if(info)
{
info->type = (int)kTypeLOAM;
if(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1)
{
info->reg.covariance = covariance;
}
if(this->isInfoDataFilled())
{
pcl::PointCloud<pcl::PointXYZI>::Ptr localMap(new pcl::PointCloud<pcl::PointXYZI>());
odomEstimation_->getMap(localMap);
info->localScanMapSize = localMap->size();
info->localScanMap = LaserScan(util3d::laserScanFromPointCloud(*localMap), 0, data.laserScanRaw().rangeMax());
}
}
}
else
{
lost_ = true;
UWARN("FLOAM failed to register the latest scan, odometry should be reset.");
}
}
UINFO("Odom update time = %fs, lost=%s", timer.elapsed(), lost_?"true":"false");
#else
UERROR("RTAB-Map is not built with FLOAM support! Select another odometry approach.");
#endif
return t;
}
} // namespace rtabmap
corelib/src/odometry/OdometryLOAM.cpp
+1 -3
View File
@@ -34,8 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d.h"
#include <pcl/common/transforms.h>
float SCAN_PERIOD = 0.1f;
namespace rtabmap {
/**
@@ -177,7 +175,7 @@ std::vector<pcl::PointCloud<pcl::PointXYZI> > OdometryLOAM::segmentScanRings(con
}
// calculate relative scan time based on point orientation
float relTime = SCAN_PERIOD * (ori - startOri) / (endOri - startOri);
float relTime = scanPeriod_ * (ori - startOri) / (endOri - startOri);
point.intensity = scanID + relTime;
// imu not used...
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -339,6 +339,7 @@ private Q_SLOTS:
void updateKpROI();
void updateStereoDisparityVisibility();
void updateFeatureMatchingVisibility();
void updateOdometryStackedIndex(int index);
void useOdomFeatures();
void changeWorkingDirectory();
void changeDictionaryPath();
guilib/src/CloudViewer.cpp
+1 -1
View File
@@ -314,7 +314,7 @@ void CloudViewer::createMenu()
_aSetNormalsScale = new QAction("Set normals scale...", this);
_aSetIntensityRedColormap = new QAction("Red/Yellow Colormap", this);
_aSetIntensityRedColormap->setCheckable(true);
_aSetIntensityRedColormap->setChecked(false);
_aSetIntensityRedColormap->setChecked(true);
_aSetIntensityRainbowColormap = new QAction("Rainbow Colormap", this);
_aSetIntensityRainbowColormap->setCheckable(true);
_aSetIntensityRainbowColormap->setChecked(false);
guilib/src/PreferencesDialog.cpp
+14 -2
View File
@@ -1246,9 +1246,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Odometry
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryType, SLOT(setCurrentIndex(int)));
connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOdometryStackedIndex(int)));
_ui->odom_strategy->setCurrentIndex(Parameters::defaultOdomStrategy());
_ui->stackedWidget_odometryType->setCurrentIndex(Parameters::defaultOdomStrategy());
updateOdometryStackedIndex(Parameters::defaultOdomStrategy());
_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
_ui->odom_fillInfoData->setObjectName(Parameters::kOdomFillInfoData().c_str());
@@ -4913,6 +4913,18 @@ void PreferencesDialog::updateFeatureMatchingVisibility()
_ui->groupBox_gms->setVisible(_ui->reextract_nn->currentIndex() == 7);
}
void PreferencesDialog::updateOdometryStackedIndex(int index)
{
if(index == 11) // FLOAM -> LOAM
{
_ui->stackedWidget_odometryType->setCurrentIndex(7);
}
else
{
_ui->stackedWidget_odometryType->setCurrentIndex(index);
}
}
void PreferencesDialog::useOdomFeatures()
{
if(this->isVisible() && _ui->checkBox_useOdomFeatures->isChecked())
guilib/src/ui/preferencesDialog.ui
+10 -5
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-727</y>
<width>686</width>
<height>3905</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>12</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -13790,6 +13790,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>OpenVINS</string>
</property>
</item>
<item>
<property name="text">
<string>FLOAM</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
@@ -14093,7 +14098,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QStackedWidget" name="stackedWidget_odometryType">
<property name="currentIndex">
<number>10</number>
<number>7</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -16267,13 +16272,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QGroupBox" name="groupBox_odomLOAM">
<property name="title">
<string>LOAM</string>
<string>LOAM - FLOAM</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_129" stretch="0,1">
<item>
<widget class="QLabel" name="label_472">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;LOAM: &lt;a href=&quot;https://github.com/laboshinl/loam_velodyne&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/laboshinl/loam_velodyne&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;Velodyne input required. Currently tested only with KITTI data set and with pull request #66.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;LOAM: &lt;a href=&quot;https://github.com/laboshinl/loam_velodyne&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/laboshinl/loam_velodyne&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;Velodyne input required. Currently tested only with KITTI data set.&lt;/p&gt;&lt;p&gt;FLOAM: &lt;a href=&quot;https://github.com/wh200720041/floam&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/wh200720041/floam&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;Other remapped parameters for FLOAM:&lt;ul&gt;&lt;li&gt;Icp/VoxelSize -&amp;gt; Resolution of the map&lt;/li&gt;&lt;li&gt;Icp/RangeMax (Max distance: set to 200 if 0)&lt;/li&gt;&lt;li&gt;Icp/RangeMin (Min distance)&lt;/li&gt;&lt;/p&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>