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matlabbe
2018-07-18 16:15:41 -04:00
parent 15e09cd0a8
commit 9ae47b79f9
16 changed files with 1077 additions and 847 deletions
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6
guilib/src/MainWindow.cpp
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@@ -1324,7 +1324,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
else if(odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis)
odom.info().type == (int)Odometry::kTypeFovis ||
odom.info().type == (int)Odometry::kTypeMSCKF)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
@@ -1891,7 +1892,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_cloudViewer->updateCameraTargetPosition(poses.rbegin()->second);
Transform localTransform = Transform::getIdentity();
std::map<int, Signature>::const_iterator iter = stat.getSignatures().find(poses.rbegin()->first);
if(iter != stat.getSignatures().end())
{
@@ -4866,7 +4866,7 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages) &&
!_preferencesDialog->getIMUPath().isEmpty())
{
if(odomStrategy != Odometry::kTypeOkvis)
if(odomStrategy != Odometry::kTypeOkvis && odomStrategy != Odometry::kTypeMSCKF)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);

13
guilib/src/OdometryViewer.cpp
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@@ -79,6 +79,7 @@ OdometryViewer::OdometryViewer(
cloudView_->setCameraTargetLocked();
cloudView_->setGridShown(true);
cloudView_->setFrustumShown(true);
QLabel * maxCloudsLabel = new QLabel("Max clouds", this);
QLabel * voxelLabel = new QLabel("Voxel", this);
@@ -297,6 +298,15 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
{
lastOdomPose_ = odom.pose();
cloudView_->updateCameraTargetPosition(odom.pose());
if(odom.data().cameraModels().size() && !odom.data().cameraModels()[0].localTransform().isNull())
{
cloudView_->updateCameraFrustums(odom.pose(), odom.data().cameraModels());
}
else if(!odom.data().stereoCameraModel().localTransform().isNull())
{
cloudView_->updateCameraFrustum(odom.pose(), odom.data().stereoCameraModel());
}
}
if(scanShown_->isChecked())
@@ -391,7 +401,8 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
}
else if(odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis)
odom.info().type == (int)Odometry::kTypeFovis ||
odom.info().type == (int)Odometry::kTypeMSCKF)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);

3
guilib/src/PreferencesDialog.cpp
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@@ -1121,6 +1121,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->OdomMSCKFPatchSize->setObjectName(Parameters::kOdomMSCKFPatchSize().c_str());
_ui->OdomMSCKFFastThreshold->setObjectName(Parameters::kOdomMSCKFFastThreshold().c_str());
_ui->OdomMSCKFMaxIteration->setObjectName(Parameters::kOdomMSCKFMaxIteration().c_str());
_ui->OdomMSCKFMaxCamStateSize->setObjectName(Parameters::kOdomMSCKFMaxCamStateSize().c_str());
_ui->OdomMSCKFTrackPrecision->setObjectName(Parameters::kOdomMSCKFTrackPrecision().c_str());
_ui->OdomMSCKFRansacThreshold->setObjectName(Parameters::kOdomMSCKFRansacThreshold().c_str());
_ui->OdomMSCKFStereoThreshold->setObjectName(Parameters::kOdomMSCKFStereoThreshold().c_str());
@@ -5454,7 +5455,7 @@ void PreferencesDialog::testOdometry()
this->getSourceDriver() == kSrcImages) &&
!_ui->lineEdit_cameraImages_path_imu->text().isEmpty())
{
if(this->getOdomStrategy() != Odometry::kTypeOkvis)
if(this->getOdomStrategy() != Odometry::kTypeOkvis && this->getOdomStrategy() != Odometry::kTypeMSCKF)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);

1474
guilib/src/ui/preferencesDialog.ui
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