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Updating orbslam3 v1 support (#1152)

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* Refactoring ORB_SLAM3 integration. Fixed realsense2 inter IMU stamps.

* Renamed OdometryORBSLAM -> OdometryORBSLAM2

* revert a change

* Fixed build without orb_slam

* Source camera: added feature detection option

* Fixed jfr2018 docker files
This commit is contained in:
matlabbe
2023-11-19 01:05:52 -08:00
committed by GitHub
parent 9c56a429cc
commit aaff1abc4f
22 changed files with 1420 additions and 575 deletions
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10
guilib/src/CloudViewer.cpp
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@@ -2835,8 +2835,6 @@ void CloudViewer::setCameraPosition(
{
renderer->ResetCameraClippingRange(boundingBox);
}
_visualizer->getRenderWindow()->Render ();
}
void CloudViewer::updateCameraTargetPosition(const Transform & pose)
@@ -2846,14 +2844,6 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
Eigen::Affine3f m = pose.toEigen3f();
Eigen::Vector3f pos = m.translation();
Eigen::Vector3f lastPos(0,0,0);
if(_trajectory->size())
{
lastPos[0]=_trajectory->back().x;
lastPos[1]=_trajectory->back().y;
lastPos[2]=_trajectory->back().z;
}
_trajectory->push_back(pcl::PointXYZ(pos[0], pos[1], pos[2]));
if(_maxTrajectorySize>0)
{

4
guilib/src/MainWindow.cpp
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@@ -5774,6 +5774,10 @@ void MainWindow::startDetection()
_camera->setColorOnly(_preferencesDialog->isSourceRGBDColorOnly());
_camera->setImageDecimation(_preferencesDialog->getSourceImageDecimation());
_camera->setHistogramMethod(_preferencesDialog->getSourceHistogramMethod());
if(_preferencesDialog->isSourceFeatureDetection())
{
_camera->enableFeatureDetection(parameters);
}
_camera->setStereoToDepth(_preferencesDialog->isSourceStereoDepthGenerated());
_camera->setStereoExposureCompensation(_preferencesDialog->isSourceStereoExposureCompensation());
_camera->setScanParameters(

22
guilib/src/PreferencesDialog.cpp
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@@ -817,6 +817,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkbox_rgbd_colorOnly, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->spinBox_source_imageDecimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->comboBox_source_histogramMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_source_feature_detection, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkbox_stereo_depthGenerated, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->checkBox_stereo_exposureCompensation, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
connect(_ui->pushButton_calibrate, SIGNAL(clicked()), this, SLOT(calibrate()));
@@ -1388,6 +1389,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_OdomORBSLAMFps->setObjectName(Parameters::kOdomORBSLAMFps().c_str());
_ui->spinBox_OdomORBSLAMMaxFeatures->setObjectName(Parameters::kOdomORBSLAMMaxFeatures().c_str());
_ui->spinBox_OdomORBSLAMMapSize->setObjectName(Parameters::kOdomORBSLAMMapSize().c_str());
_ui->groupBox_OdomORBSLAMInertial->setObjectName(Parameters::kOdomORBSLAMInertial().c_str());
_ui->doubleSpinBox_ORBSLAMGyroNoise->setObjectName(Parameters::kOdomORBSLAMGyroNoise().c_str());
_ui->doubleSpinBox_ORBSLAMAccNoise->setObjectName(Parameters::kOdomORBSLAMAccNoise().c_str());
_ui->doubleSpinBox_ORBSLAMGyroWalk->setObjectName(Parameters::kOdomORBSLAMGyroWalk().c_str());
_ui->doubleSpinBox_ORBSLAMAccWalk->setObjectName(Parameters::kOdomORBSLAMAccWalk().c_str());
_ui->doubleSpinBox_ORBSLAMSamplingRate->setObjectName(Parameters::kOdomORBSLAMSamplingRate().c_str());
// Odometry Okvis
_ui->lineEdit_OdomOkvisPath->setObjectName(Parameters::kOdomOKVISConfigPath().c_str());
@@ -2052,6 +2059,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->checkbox_rgbd_colorOnly->setChecked(false);
_ui->spinBox_source_imageDecimation->setValue(1);
_ui->comboBox_source_histogramMethod->setCurrentIndex(0);
_ui->checkbox_source_feature_detection->setChecked(false);
_ui->checkbox_stereo_depthGenerated->setChecked(false);
_ui->checkBox_stereo_exposureCompensation->setChecked(false);
_ui->openni2_autoWhiteBalance->setChecked(true);
@@ -2487,6 +2495,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
_ui->lineEdit_sourceLocalTransform->setText(settings.value("localTransform",_ui->lineEdit_sourceLocalTransform->text()).toString());
_ui->spinBox_source_imageDecimation->setValue(settings.value("imageDecimation",_ui->spinBox_source_imageDecimation->value()).toInt());
_ui->comboBox_source_histogramMethod->setCurrentIndex(settings.value("histogramMethod", _ui->comboBox_source_histogramMethod->currentIndex()).toInt());
_ui->checkbox_source_feature_detection->setChecked(settings.value("featureDetection", _ui->checkbox_source_feature_detection->isChecked()).toBool());
// Backward compatibility
if(_ui->lineEdit_sourceLocalTransform->text().compare("0 0 1 -1 0 0 0 -1 0") == 0)
{
@@ -3026,6 +3035,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
settings.setValue("localTransform", _ui->lineEdit_sourceLocalTransform->text());
settings.setValue("imageDecimation", _ui->spinBox_source_imageDecimation->value());
settings.setValue("histogramMethod", _ui->comboBox_source_histogramMethod->currentIndex());
settings.setValue("featureDetection", _ui->checkbox_source_feature_detection->isChecked());
settings.beginGroup("rgbd");
settings.setValue("driver", _ui->comboBox_cameraRGBD->currentIndex());
@@ -6028,6 +6038,10 @@ int PreferencesDialog::getSourceHistogramMethod() const
{
return _ui->comboBox_source_histogramMethod->currentIndex();
}
bool PreferencesDialog::isSourceFeatureDetection() const
{
return _ui->checkbox_source_feature_detection->isChecked();
}
bool PreferencesDialog::isSourceStereoDepthGenerated() const
{
return _ui->checkbox_stereo_depthGenerated->isChecked();
@@ -6833,6 +6847,10 @@ void PreferencesDialog::testOdometry()
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setHistogramMethod(_ui->comboBox_source_histogramMethod->currentIndex());
if(_ui->checkbox_source_feature_detection->isChecked())
{
cameraThread.enableFeatureDetection(this->getAllParameters());
}
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
cameraThread.setScanParameters(
@@ -6905,6 +6923,10 @@ void PreferencesDialog::testCamera()
cameraThread.setColorOnly(_ui->checkbox_rgbd_colorOnly->isChecked());
cameraThread.setImageDecimation(_ui->spinBox_source_imageDecimation->value());
cameraThread.setHistogramMethod(_ui->comboBox_source_histogramMethod->currentIndex());
if(_ui->checkbox_source_feature_detection->isChecked())
{
cameraThread.enableFeatureDetection(this->getAllParameters());
}
cameraThread.setStereoToDepth(_ui->checkbox_stereo_depthGenerated->isChecked());
cameraThread.setStereoExposureCompensation(_ui->checkBox_stereo_exposureCompensation->isChecked());
cameraThread.setScanParameters(

909
guilib/src/ui/preferencesDialog.ui
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