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0.16.3: Added OKVIS support (tested only on EuRoC dataset). Added IMU/IMUThread classes. Added OdomOKVIS/ConfigPath and Rtabmap/ImagesAlreadyRectified parameters. MainWindow, limited odom local feature map to maximum 50 meters from current pose (to avoid VTK glitching with near/far clipping plane).

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This commit is contained in:
matlabbe
2018-03-07 19:43:30 -05:00
parent 2fad881202
commit 4969ece356
30 changed files with 1700 additions and 102 deletions
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2
guilib/include/rtabmap/gui/MainWindow.h
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@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
class CameraThread;
class OdometryThread;
class IMUThread;
class CloudViewer;
class LoopClosureViewer;
class OccupancyGrid;
@@ -298,6 +299,7 @@ private:
State _state;
rtabmap::CameraThread * _camera;
rtabmap::OdometryThread * _odomThread;
rtabmap::IMUThread * _imuThread;
//Dialogs
PreferencesDialog * _preferencesDialog;

5
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -250,6 +250,9 @@ public:
double getSourceScanNormalsRadius() const;
Transform getSourceLocalTransform() const; //Openni group
Transform getLaserLocalTransform() const; // directory images
Transform getIMULocalTransform() const; // directory images
QString getIMUPath() const;
int getIMURate() const;
Camera * createCamera(bool useRawImages = false, bool useColor = true); // return camera should be deleted if not null
int getIgnoredDCComponents() const;
@@ -310,6 +313,7 @@ private slots:
void changeWorkingDirectory();
void changeDictionaryPath();
void changeOdometryORBSLAM2Vocabulary();
void changeOdometryOKVISConfigPath();
void changeIcpPMConfigPath();
void readSettingsEnd();
void setupTreeView();
@@ -322,6 +326,7 @@ private slots:
void selectSourceRGBDImagesPathRGB();
void selectSourceRGBDImagesPathDepth();
void selectSourceImagesPathScans();
void selectSourceImagesPathIMU();
void selectSourceImagesPathOdom();
void selectSourceImagesPathGt();
void selectSourceStereoImagesPathLeft();