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Added OpenVINS minimal support (tested with EuRoC dataset)

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This commit is contained in:
matlabbe
2021-03-28 23:51:02 -04:00
parent a58ec494d1
commit 4c1e72d82e
18 changed files with 1762 additions and 1018 deletions
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16
guilib/src/AboutDialog.cpp
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@@ -234,6 +234,22 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_msckf_license->setEnabled(false);
#endif
#ifdef RTABMAP_VINS
_ui->label_vins_fusion->setText("Yes");
_ui->label_vins_fusion_license->setEnabled(true);
#else
_ui->label_vins_fusion->setText("No");
_ui->label_vins_fusion_license->setEnabled(false);
#endif
#ifdef RTABMAP_OPENVINS
_ui->label_openvins->setText("Yes");
_ui->label_openvins_license->setEnabled(true);
#else
_ui->label_openvins->setText("No");
_ui->label_openvins_license->setEnabled(false);
#endif
}
AboutDialog::~AboutDialog()

11
guilib/src/MainWindow.cpp
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@@ -1492,7 +1492,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis ||
odom.info().type == (int)Odometry::kTypeMSCKF ||
odom.info().type == (int)Odometry::kTypeVINS)
odom.info().type == (int)Odometry::kTypeVINS ||
odom.info().type == (int)Odometry::kTypeOpenVINS)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
@@ -1541,7 +1542,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if( odom.info().type == (int)Odometry::kTypeF2M ||
odom.info().type == (int)Odometry::kTypeORBSLAM ||
odom.info().type == (int)Odometry::kTypeMSCKF ||
odom.info().type == (int)Odometry::kTypeVINS)
odom.info().type == (int)Odometry::kTypeVINS ||
odom.info().type == (int)Odometry::kTypeOpenVINS)
{
if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
{
@@ -5427,7 +5429,10 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages) &&
!_preferencesDialog->getIMUPath().isEmpty())
{
if(odomStrategy != Odometry::kTypeOkvis && odomStrategy != Odometry::kTypeMSCKF && odomStrategy != Odometry::kTypeVINS)
if( odomStrategy != Odometry::kTypeOkvis &&
odomStrategy != Odometry::kTypeMSCKF &&
odomStrategy != Odometry::kTypeVINS &&
odomStrategy != Odometry::kTypeOpenVINS)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);

6
guilib/src/PreferencesDialog.cpp
View File

@@ -192,6 +192,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_VINS
_ui->odom_strategy->setItemData(9, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_OPENVINS
_ui->odom_strategy->setItemData(10, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION < 3
_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
@@ -6371,7 +6374,8 @@ void PreferencesDialog::testOdometry()
{
if(this->getOdomStrategy() != Odometry::kTypeOkvis &&
this->getOdomStrategy() != Odometry::kTypeMSCKF &&
this->getOdomStrategy() != Odometry::kTypeVINS)
this->getOdomStrategy() != Odometry::kTypeVINS &&
this->getOdomStrategy() != Odometry::kTypeOpenVINS)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);

2066
guilib/src/ui/aboutDialog.ui
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File diff suppressed because it is too large Load Diff

53
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1011</y>
<y>-120</y>
<width>686</width>
<height>3414</height>
</rect>
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>22</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -13621,6 +13621,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>VINS-Fusion</string>
</property>
</item>
<item>
<property name="text">
<string>OpenVINS</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
@@ -13924,7 +13929,7 @@ 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>5</number>
<number>10</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -17100,6 +17105,48 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</layout>
</widget>
<widget class="QWidget" name="page_93">
<layout class="QVBoxLayout" name="verticalLayout_162">
<item>
<widget class="QGroupBox" name="groupBox_odomVINS_2">
<property name="title">
<string>VINS-Fusion</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_161" stretch="0">
<item>
<widget class="QLabel" name="label_632">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;OpenVINS: &lt;a href=&quot;https://github.com/rpng/open_vins&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/rpng/open_vins&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;Currently tested only with EuRoC data set.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_89">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1049</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_26">
<layout class="QVBoxLayout" name="verticalLayout_88">
<item>