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Added OdometryOpen3D

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This commit is contained in:
matlabbe
2021-11-13 19:45:57 -05:00
parent 4ba805b5b3
commit 6c07a670ee
10 changed files with 573 additions and 17 deletions
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19
guilib/src/PreferencesDialog.cpp
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@@ -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()