mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added OdometryOpen3D
This commit is contained in:
matlabbe
@@ -199,6 +199,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
#ifndef RTABMAP_FLOAM
|
||||
_ui->odom_strategy->setItemData(11, 0, Qt::UserRole - 1);
|
||||
#endif
|
||||
#ifndef RTABMAP_OPEN3D
|
||||
_ui->odom_strategy->setItemData(12, 0, Qt::UserRole - 1);
|
||||
#endif
|
||||
|
||||
#if CV_MAJOR_VERSION < 3
|
||||
_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
|
||||
@@ -1413,6 +1416,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
|
||||
_ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str());
|
||||
_ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str());
|
||||
|
||||
// Odometry Open3D
|
||||
_ui->odom_open3d_method->setObjectName(Parameters::kOdomOpen3DMethod().c_str());
|
||||
_ui->odom_open3d_max_depth->setObjectName(Parameters::kOdomOpen3DMaxDepth().c_str());
|
||||
|
||||
//StereoDense
|
||||
_ui->comboBox_stereoDense_strategy->setObjectName(Parameters::kStereoDenseStrategy().c_str());
|
||||
connect(_ui->comboBox_stereoDense_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_stereoDense, SLOT(setCurrentIndex(int)));
|
||||
@@ -4932,6 +4939,18 @@ void PreferencesDialog::updateOdometryStackedIndex(int index)
|
||||
{
|
||||
_ui->stackedWidget_odometryType->setCurrentIndex(index);
|
||||
}
|
||||
_ui->groupBox_odomF2M->setVisible(index==0);
|
||||
_ui->groupBox_odomF2F->setVisible(index==1);
|
||||
_ui->groupBox_odomFovis->setVisible(index==2);
|
||||
_ui->groupBox_odomViso2->setVisible(index==3);
|
||||
_ui->groupBox_odomDVO->setVisible(index==4);
|
||||
_ui->groupBox_odomORBSLAM->setVisible(index==5);
|
||||
_ui->groupBox_odomOKVIS->setVisible(index==6);
|
||||
_ui->groupBox_odomLOAM->setVisible(index==7);
|
||||
_ui->groupBox_odomMSCKF->setVisible(index==8);
|
||||
_ui->groupBox_odomVINS->setVisible(index==9);
|
||||
_ui->groupBox_odomOpenVINS->setVisible(index==10);
|
||||
_ui->groupBox_odomOpen3D->setVisible(index==12);
|
||||
}
|
||||
|
||||
void PreferencesDialog::useOdomFeatures()
|
||||
|
||||
@@ -6,8 +6,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>982</width>
|
||||
<height>820</height>
|
||||
<width>1052</width>
|
||||
<height>925</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="sizePolicy">
|
||||
@@ -63,9 +63,9 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-595</y>
|
||||
<width>686</width>
|
||||
<height>3905</height>
|
||||
<y>-218</y>
|
||||
<width>756</width>
|
||||
<height>3623</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_16">
|
||||
@@ -95,10 +95,10 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>5</number>
|
||||
<number>19</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_generalSettingsGui0">
|
||||
<property name="title">
|
||||
@@ -13843,6 +13843,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<string>FLOAM</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Open3D</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
@@ -14146,7 +14151,7 @@ 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>7</number>
|
||||
<number>12</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_52">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_77">
|
||||
@@ -17357,9 +17362,9 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<widget class="QWidget" name="page_93">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_162">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odomVINS_2">
|
||||
<widget class="QGroupBox" name="groupBox_odomOpenVINS">
|
||||
<property name="title">
|
||||
<string>VINS-Fusion</string>
|
||||
<string>OpenVINS</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_161" stretch="0">
|
||||
<item>
|
||||
@@ -17396,6 +17401,128 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_95">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_166">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odomFLOAM">
|
||||
<property name="title">
|
||||
<string>Dummy-FLOAM</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_165"/>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_94">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_164">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odomOpen3D">
|
||||
<property name="title">
|
||||
<string>Open3D</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_163" stretch="0,0">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_643">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p>Open3D: <a href="https://github.com/isl-org/Open3D"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/isl-org/Open3D</span></a></p><p>Working only with RGB-D cameras, preferably with TOF sensors. Note that visual keyframe threshold ratio parameter above is used with this odometry strategy.</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_108" columnstretch="0,1">
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_open3d_max_depth">
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9999.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>3.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_647">
|
||||
<property name="text">
|
||||
<string>Method.</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="QComboBox" name="odom_open3d_method">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>PointToPlane</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Intensity</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Hybrid</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_645">
|
||||
<property name="text">
|
||||
<string>Max depth.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_30">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>984</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_26">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_88">
|
||||
<item>
|
||||
@@ -17579,7 +17706,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<item>
|
||||
<widget class="QStackedWidget" name="stackedWidget_odometryFiltering">
|
||||
<property name="currentIndex">
|
||||
<number>1</number>
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_31">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_84"/>
|
||||
|
||||
Reference in New Issue
Block a user