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Added OdometryFLOAM (Odom/Strategy=11)

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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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1
guilib/include/rtabmap/gui/PreferencesDialog.h
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();

2
guilib/src/CloudViewer.cpp
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@@ -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);

16
guilib/src/PreferencesDialog.cpp
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())

15
guilib/src/ui/preferencesDialog.ui
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>