mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added OdometryOpen3D
This commit is contained in:
matlabbe
@@ -6,8 +6,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>982</width>
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<width>1052</width>
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<height>925</height>
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</rect>
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</property>
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<property name="sizePolicy">
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@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-595</y>
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<width>686</width>
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<height>3905</height>
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<y>-218</y>
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<width>756</width>
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<height>3623</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -95,10 +95,10 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>5</number>
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<number>19</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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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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<item>
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<widget class="QGroupBox" name="groupBox_generalSettingsGui0">
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<property name="title">
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@@ -13843,6 +13843,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>FLOAM</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>Open3D</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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@@ -14146,7 +14151,7 @@ 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">
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<property name="currentIndex">
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<number>7</number>
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<number>12</number>
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</property>
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<widget class="QWidget" name="page_52">
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<layout class="QVBoxLayout" name="verticalLayout_77">
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@@ -17357,9 +17362,9 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<widget class="QWidget" name="page_93">
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<layout class="QVBoxLayout" name="verticalLayout_162">
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<item>
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<widget class="QGroupBox" name="groupBox_odomVINS_2">
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<widget class="QGroupBox" name="groupBox_odomOpenVINS">
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<property name="title">
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<string>VINS-Fusion</string>
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<string>OpenVINS</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_161" stretch="0">
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<item>
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@@ -17396,6 +17401,128 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_95">
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<layout class="QVBoxLayout" name="verticalLayout_166">
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<item>
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<widget class="QGroupBox" name="groupBox_odomFLOAM">
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<property name="title">
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<string>Dummy-FLOAM</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_165"/>
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</widget>
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_94">
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<layout class="QVBoxLayout" name="verticalLayout_164">
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<item>
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<widget class="QGroupBox" name="groupBox_odomOpen3D">
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<property name="title">
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<string>Open3D</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_163" stretch="0,0">
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<item>
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<widget class="QLabel" name="label_643">
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<property name="text">
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<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>
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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="openExternalLinks">
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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>
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<layout class="QGridLayout" name="gridLayout_108" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="odom_open3d_max_depth">
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>3.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_647">
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<property name="text">
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<string>Method.</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="0" column="0">
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<widget class="QComboBox" name="odom_open3d_method">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>PointToPlane</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>Intensity</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>Hybrid</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="1" column="1">
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<widget class="QLabel" name="label_645">
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<property name="text">
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<string>Max depth.</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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</layout>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer_30">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>984</height>
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</size>
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</property>
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</spacer>
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</item>
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</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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@@ -17579,7 +17706,7 @@ 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_odometryFiltering">
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<property name="currentIndex">
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<number>1</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_31">
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<layout class="QVBoxLayout" name="verticalLayout_84"/>
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