mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)
This commit is contained in:
matlabbe
@@ -5049,7 +5049,7 @@ void MainWindow::startDetection()
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_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages) &&
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!_preferencesDialog->getIMUPath().isEmpty())
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{
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if(odomStrategy != Odometry::kTypeOkvis && odomStrategy != Odometry::kTypeMSCKF)
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if(odomStrategy != Odometry::kTypeOkvis && odomStrategy != Odometry::kTypeMSCKF && odomStrategy != Odometry::kTypeVINS)
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{
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QMessageBox::warning(this, tr("Source IMU Path"),
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tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);
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@@ -183,6 +183,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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#ifndef RTABMAP_MSCKF_VIO
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_ui->odom_strategy->setItemData(8, 0, Qt::UserRole - 1);
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#endif
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#ifndef RTABMAP_VINS
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_ui->odom_strategy->setItemData(9, 0, Qt::UserRole - 1);
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#endif
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#if CV_MAJOR_VERSION < 3
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_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
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@@ -1175,6 +1178,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->OdomMSCKFInitCovExRot->setObjectName(Parameters::kOdomMSCKFInitCovExRot().c_str());
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_ui->OdomMSCKFInitCovExTrans->setObjectName(Parameters::kOdomMSCKFInitCovExTrans().c_str());
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// Odometry VINS
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_ui->lineEdit_OdomVinsPath->setObjectName(Parameters::kOdomVINSConfigPath().c_str());
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connect(_ui->toolButton_OdomVinsPath, SIGNAL(clicked()), this, SLOT(changeOdometryVINSConfigPath()));
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//Stereo
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_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
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_ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str());
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@@ -4371,6 +4378,23 @@ void PreferencesDialog::changeOdometryOKVISConfigPath()
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}
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}
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void PreferencesDialog::changeOdometryVINSConfigPath()
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{
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QString path;
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if(_ui->lineEdit_OdomVinsPath->text().isEmpty())
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{
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path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), this->getWorkingDirectory(), tr("VINS-Fusion config (*.yaml)"));
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}
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else
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{
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path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), _ui->lineEdit_OdomVinsPath->text(), tr("VINS-Fusion config (*.yaml)"));
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}
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if(!path.isEmpty())
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{
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_ui->lineEdit_OdomVinsPath->setText(path);
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}
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}
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void PreferencesDialog::changeIcpPMConfigPath()
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{
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QString path;
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@@ -5560,7 +5584,9 @@ void PreferencesDialog::testOdometry()
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this->getSourceDriver() == kSrcImages) &&
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!_ui->lineEdit_cameraImages_path_imu->text().isEmpty())
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{
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if(this->getOdomStrategy() != Odometry::kTypeOkvis && this->getOdomStrategy() != Odometry::kTypeMSCKF)
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if(this->getOdomStrategy() != Odometry::kTypeOkvis &&
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this->getOdomStrategy() != Odometry::kTypeMSCKF &&
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this->getOdomStrategy() != Odometry::kTypeVINS)
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{
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QMessageBox::warning(this, tr("Source IMU Path"),
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tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);
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@@ -94,25 +94,16 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-516</y>
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<width>680</width>
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<height>3082</height>
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<y>-631</y>
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<width>681</width>
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<height>3071</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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<property name="spacing">
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<number>0</number>
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</property>
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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@@ -5173,16 +5164,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Directory of images (optional settings)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_93">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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@@ -11603,6 +11585,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>MSCKF_VIO</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>VINS-Fusion</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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@@ -11906,7 +11893,7 @@ 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>0</number>
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<number>9</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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@@ -14944,6 +14931,75 @@ 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_79">
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<layout class="QVBoxLayout" name="verticalLayout_139">
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<item>
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<widget class="QGroupBox" name="groupBox_odomVINS">
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<property name="title">
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<string>VINS-Fusion</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_138" stretch="0,0">
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<item>
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<widget class="QLabel" name="label_525">
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<property name="text">
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<string><html><head/><body><p>VINS-Fusion: <a href="https://github.com/HKUST-Aerial-Robotics/VINS-Fusion"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/HKUST-Aerial-Robotics/VINS-Fusion</span></a></p><p>IMU input optional depending on the parameters in the config file. Currently tested only with EuRoC data set.</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_107" columnstretch="0,0,1">
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<item row="0" column="1">
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<widget class="QLineEdit" name="lineEdit_OdomVinsPath"/>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_526">
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<property name="text">
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<string>Path to VINS-Fusion config file (*.yaml). While VINS-Fusion requires calibrations in the config file, they are ignored as those from received images are used instead.</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="QToolButton" name="toolButton_OdomVinsPath">
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<property name="text">
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<string>...</string>
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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_77">
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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>1090</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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@@ -15883,16 +15939,7 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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@@ -15972,16 +16019,7 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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@@ -16093,16 +16131,7 @@ Lower the ratio -> higher the precision.</string>
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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