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Added missing cuvslam panel in UI

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matlabbe
2025-12-15 15:12:06 -08:00
parent 106874845f
commit af7ff60a6c
2 changed files with 87 additions and 3 deletions
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guilib/src/PreferencesDialog.cpp
+4 -1
View File
@@ -1676,12 +1676,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str()); _ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str());
_ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str()); _ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str());
_ui->stereo_flow_gpu->setObjectName(Parameters::kStereoGpu().c_str()); _ui->stereo_flow_gpu->setObjectName(Parameters::kStereoGpu().c_str());
// Odometry Open3D // Odometry Open3D
_ui->odom_open3d_method->setObjectName(Parameters::kOdomOpen3DMethod().c_str()); _ui->odom_open3d_method->setObjectName(Parameters::kOdomOpen3DMethod().c_str());
_ui->odom_open3d_max_depth->setObjectName(Parameters::kOdomOpen3DMaxDepth().c_str()); _ui->odom_open3d_max_depth->setObjectName(Parameters::kOdomOpen3DMaxDepth().c_str());
// Odometry CuVSLAM
_ui->odom_cuvslam_multicam_mode->setObjectName(Parameters::kOdomCuVSLAMMulticamMode().c_str());
//StereoDense //StereoDense
_ui->comboBox_stereoDense_strategy->setObjectName(Parameters::kStereoDenseStrategy().c_str()); _ui->comboBox_stereoDense_strategy->setObjectName(Parameters::kStereoDenseStrategy().c_str());
connect(_ui->comboBox_stereoDense_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_stereoDense, SLOT(setCurrentIndex(int))); connect(_ui->comboBox_stereoDense_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_stereoDense, SLOT(setCurrentIndex(int)));
@@ -5542,6 +5544,7 @@ void PreferencesDialog::updateOdometryStackedIndex(int index)
_ui->groupBox_odomVINSFusion->setVisible(index==9); _ui->groupBox_odomVINSFusion->setVisible(index==9);
_ui->groupBox_odomOpenVINS->setVisible(index==10); _ui->groupBox_odomOpenVINS->setVisible(index==10);
_ui->groupBox_odomOpen3D->setVisible(index==12); _ui->groupBox_odomOpen3D->setVisible(index==12);
_ui->groupBox_odomCuvslam->setVisible(index==13);
} }
void PreferencesDialog::useOdomFeatures() void PreferencesDialog::useOdomFeatures()
guilib/src/ui/preferencesDialog.ui
+83 -2
View File
@@ -63,7 +63,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-1237</y> <y>-603</y>
<width>684</width> <width>684</width>
<height>5110</height> <height>5110</height>
</rect> </rect>
@@ -16349,7 +16349,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item> <item>
<widget class="QStackedWidget" name="stackedWidget_odometryType"> <widget class="QStackedWidget" name="stackedWidget_odometryType">
<property name="currentIndex"> <property name="currentIndex">
<number>5</number> <number>13</number>
</property> </property>
<widget class="QWidget" name="page_52"> <widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77"> <layout class="QVBoxLayout" name="verticalLayout_77">
@@ -21580,6 +21580,87 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item> </item>
</layout> </layout>
</widget> </widget>
<widget class="QWidget" name="page_102">
<layout class="QVBoxLayout" name="verticalLayout_186">
<item>
<widget class="QGroupBox" name="groupBox_odomCuvslam">
<property name="title">
<string>CuVSLAM</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_185" stretch="0,0">
<item>
<widget class="QLabel" name="label_782">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;CuVSLAM: &lt;a href=&quot;https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;Working only with stereo cameras with current integration. If Reg/Force3DoF is enabled, planar constraints will be used by CuVSLAM.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</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_138" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_783">
<property name="text">
<string>Multi-camera Mode</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_cuvslam_multicam_mode">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Moderate</string>
</property>
</item>
<item>
<property name="text">
<string>Performance</string>
</property>
</item>
<item>
<property name="text">
<string>Precision</string>
</property>
</item>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_92">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>2069</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_26"> <widget class="QWidget" name="page_26">
<layout class="QVBoxLayout" name="verticalLayout_88"> <layout class="QVBoxLayout" name="verticalLayout_88">
<item> <item>