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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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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);