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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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137
guilib/src/ui/preferencesDialog.ui
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@@ -94,25 +94,16 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-516</y>
<width>680</width>
<height>3082</height>
<y>-631</y>
<width>681</width>
<height>3071</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -5173,16 +5164,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<string>Directory of images (optional settings)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_93">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -11603,6 +11585,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>MSCKF_VIO</string>
</property>
</item>
<item>
<property name="text">
<string>VINS-Fusion</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
@@ -11906,7 +11893,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QStackedWidget" name="stackedWidget_odometryType">
<property name="currentIndex">
<number>0</number>
<number>9</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -14944,6 +14931,75 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</item>
</layout>
</widget>
<widget class="QWidget" name="page_79">
<layout class="QVBoxLayout" name="verticalLayout_139">
<item>
<widget class="QGroupBox" name="groupBox_odomVINS">
<property name="title">
<string>VINS-Fusion</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_138" stretch="0,0">
<item>
<widget class="QLabel" name="label_525">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;VINS-Fusion: &lt;a href=&quot;https://github.com/HKUST-Aerial-Robotics/VINS-Fusion&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/HKUST-Aerial-Robotics/VINS-Fusion&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;IMU input optional depending on the parameters in the config file. Currently tested only with EuRoC data set.&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_107" columnstretch="0,0,1">
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_OdomVinsPath"/>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_526">
<property name="text">
<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>
</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="QToolButton" name="toolButton_OdomVinsPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_77">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1090</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_26">
<layout class="QVBoxLayout" name="verticalLayout_88">
<item>
@@ -15883,16 +15939,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -15972,16 +16019,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@@ -16093,16 +16131,7 @@ Lower the ratio -&gt; higher the precision.</string>
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
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<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>