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0.19.1: Added OdometryVINS (VINS-Fusion integration, Odom/Strategy=9)

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matlabbe
2019-03-18 20:45:34 -04:00
parent 9c1c88d35e
commit c0a7c3a344
13 changed files with 727 additions and 69 deletions
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28
guilib/src/PreferencesDialog.cpp
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@@ -183,6 +183,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_MSCKF_VIO
_ui->odom_strategy->setItemData(8, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_VINS
_ui->odom_strategy->setItemData(9, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION < 3
_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
@@ -1175,6 +1178,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->OdomMSCKFInitCovExRot->setObjectName(Parameters::kOdomMSCKFInitCovExRot().c_str());
_ui->OdomMSCKFInitCovExTrans->setObjectName(Parameters::kOdomMSCKFInitCovExTrans().c_str());
// Odometry VINS
_ui->lineEdit_OdomVinsPath->setObjectName(Parameters::kOdomVINSConfigPath().c_str());
connect(_ui->toolButton_OdomVinsPath, SIGNAL(clicked()), this, SLOT(changeOdometryVINSConfigPath()));
//Stereo
_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
_ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str());
@@ -4371,6 +4378,23 @@ void PreferencesDialog::changeOdometryOKVISConfigPath()
}
}
void PreferencesDialog::changeOdometryVINSConfigPath()
{
QString path;
if(_ui->lineEdit_OdomVinsPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), this->getWorkingDirectory(), tr("VINS-Fusion config (*.yaml)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), _ui->lineEdit_OdomVinsPath->text(), tr("VINS-Fusion config (*.yaml)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_OdomVinsPath->setText(path);
}
}
void PreferencesDialog::changeIcpPMConfigPath()
{
QString path;
@@ -5560,7 +5584,9 @@ void PreferencesDialog::testOdometry()
this->getSourceDriver() == kSrcImages) &&
!_ui->lineEdit_cameraImages_path_imu->text().isEmpty())
{
if(this->getOdomStrategy() != Odometry::kTypeOkvis && this->getOdomStrategy() != Odometry::kTypeMSCKF)
if(this->getOdomStrategy() != Odometry::kTypeOkvis &&
this->getOdomStrategy() != Odometry::kTypeMSCKF &&
this->getOdomStrategy() != Odometry::kTypeVINS)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);