mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
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).
This commit is contained in:
matlabbe
@@ -63,16 +63,25 @@
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@@ -86,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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<property name="currentIndex">
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<number>7</number>
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<number>18</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -2687,7 +2696,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="3" column="0">
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<widget class="QLineEdit" name="lineEdit_sourceLocalTransform">
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<property name="toolTip">
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0<br/>KITTI: /base_footprint to /gray_camera = 0 0 1 0 -1 0 0 0 0 -1 0 1.67<br/>KITTI: /base_footprint to /gray_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 1.67</p><p>EuRoC MAV: /base_link to /cam0 = [0 0 1 0; 0 -1 0 0; 1 0 0 0; 0 0 0 1]*T_BS</p></body></html></string>
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /gray_camera = 0 0 1 -1 0 0 0 -1 0<br/>KITTI: /base_link to /color_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 0<br/>KITTI: /base_footprint to /gray_camera = 0 0 1 0 -1 0 0 0 0 -1 0 1.67<br/>KITTI: /base_footprint to /gray_camera = 0 0 1 0 -1 0 0 -0.06 0 -1 0 1.67</p><p>EuRoC MAV: /base_link to /cam0 = T_BS*T_SC0 = -0.0257742 0.00375623 0.999661 0.00981073 -0.999557 -0.0149672 -0.0257155 0.064677 0.0148655 -0.999881 0.00414038 -0.0216401</p></body></html></string>
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<property name="text">
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<string>0 0 1 -1 0 0 0 -1 0</string>
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@@ -4817,11 +4826,27 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Directory of images (optional settings)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_93">
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<property name="margin">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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<property name="rightMargin">
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<number>0</number>
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<property name="bottomMargin">
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<number>0</number>
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<item>
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<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
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<item row="6" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_gt">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_odom">
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<property name="text">
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@@ -4889,6 +4914,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="6" column="2">
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<widget class="QLabel" name="label_288">
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<property name="text">
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@@ -4915,8 +4947,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
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<property name="text">
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<string/>
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</property>
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@@ -4948,13 +4980,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
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<property name="text">
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@@ -4975,10 +5000,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_gt">
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<property name="text">
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<string>...</string>
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<item row="11" column="1">
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<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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</property>
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<property name="maximum">
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<number>99999999</number>
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</property>
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</widget>
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</item>
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@@ -5049,16 +5077,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="11" column="1">
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<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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</property>
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<property name="maximum">
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<number>99999999</number>
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</property>
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</widget>
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</item>
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<item row="10" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
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<property name="toolTip">
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@@ -5239,6 +5257,79 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="13" column="2">
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<widget class="QLabel" name="label_464">
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<property name="text">
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<string>Local transform from /base_link to /imu_link. Mouse over the box to show formats.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="12" column="2">
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<widget class="QLabel" name="label_463">
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<property name="text">
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<string>Path to file containing optional IMU data (*.csv [EuRoC format]).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="12" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_path_imu">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="12" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_path_imu">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="13" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_imu_transform">
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<property name="toolTip">
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>EuRoC: /base_link to /imu = 0 0 1 0 -1 0 1 0 0</p></body></html></string>
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</property>
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<property name="text">
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<string>0 0 0 0 0 0</string>
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</property>
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</widget>
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</item>
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<item row="14" column="2">
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<widget class="QLabel" name="label_465">
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<property name="text">
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<string>IMU Rate. To synchronize capture rate with IMU timestamps, set to 0. This can be set a little over the actual IMU rate to keep up with camera capture rate if images are dropped by odometry.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="14" column="1">
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<widget class="QSpinBox" name="spinBox_cameraImages_max_imu_rate">
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<property name="toolTip">
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||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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||||
</property>
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||||
<property name="maximum">
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||||
<number>99999999</number>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
</layout>
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</item>
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<item>
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@@ -6015,6 +6106,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="general_checkBox_createIntermediateNodes">
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||||
<property name="text">
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||||
<string/>
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||||
</property>
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||||
<property name="checked">
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||||
<bool>false</bool>
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</property>
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||||
</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate">
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<property name="suffix">
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@@ -6041,13 +6142,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="general_checkBox_createIntermediateNodes">
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<item row="5" column="1">
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<widget class="QLabel" name="label_467">
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<property name="text">
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<string>Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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||||
</property>
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<property name="textInteractionFlags">
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||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QCheckBox" name="general_checkBox_imagesAlreadyRectified">
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<property name="text">
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||||
<string/>
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||||
</property>
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||||
<property name="checked">
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||||
<bool>false</bool>
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||||
<bool>true</bool>
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</property>
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||||
</widget>
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</item>
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@@ -10476,6 +10590,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>ORB SLAM 2</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>OKVIS</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="2" column="1">
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@@ -10747,7 +10866,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
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<item>
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||||
<widget class="QStackedWidget" name="stackedWidget_odometryType">
|
||||
<property name="currentIndex">
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||||
<number>1</number>
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||||
<number>6</number>
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||||
</property>
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||||
<widget class="QWidget" name="page_52">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_77">
|
||||
@@ -12746,6 +12865,75 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
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</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_54">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_85" stretch="0,1">
|
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<item>
|
||||
<widget class="QGroupBox" name="groupBox_odomORBSLAM2_2">
|
||||
<property name="title">
|
||||
<string>OKVIS</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_128" stretch="0,1">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_466">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p>OKVIS: <a href="https://github.com/ethz-asl/okvis"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/ethz-asl/okvis</span></a></p><p>IMU input required. Currently tested only with EuRoC data set.</p></body></html></string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="openExternalLinks">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_98" columnstretch="0,0,1">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_OdomOkvisPath"/>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_469">
|
||||
<property name="text">
|
||||
<string>Path to OKVIS config file (*.yaml). While OKVIS requires calibrations in the config file, they are ignored as those from received images are used instead.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QToolButton" name="toolButton_OdomOkvisPath">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
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</layout>
|
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</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_69">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
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</widget>
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<widget class="QWidget" name="page_26">
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||||
<layout class="QVBoxLayout" name="verticalLayout_88">
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||||
<item>
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||||
@@ -13685,7 +13873,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
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<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
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||||
</property>
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||||
<property name="bottomMargin">
|
||||
<number>0</number>
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||||
</property>
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||||
<item>
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@@ -13765,7 +13962,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
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<property name="spacing">
|
||||
<number>0</number>
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||||
</property>
|
||||
<property name="margin">
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||||
<property name="leftMargin">
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||||
<number>0</number>
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||||
</property>
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||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
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||||
<property name="rightMargin">
|
||||
<number>0</number>
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||||
</property>
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||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
@@ -13877,7 +14083,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
<property name="spacing">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="margin">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user