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Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.

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matlabbe
2017-06-05 19:04:23 -04:00
parent de797b644e
commit c4ca6a0bac
17 changed files with 2036 additions and 348 deletions
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31
guilib/src/PreferencesDialog.cpp
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@@ -168,6 +168,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_DVO
_ui->odom_strategy->setItemData(4, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_ORB_SLAM2
_ui->odom_strategy->setItemData(5, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
@@ -972,6 +975,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->doubleSpinBox_OdomViso2BucketWidth->setObjectName(Parameters::kOdomViso2BucketWidth().c_str());
_ui->doubleSpinBox_OdomViso2BucketHeight->setObjectName(Parameters::kOdomViso2BucketHeight().c_str());
// Odometry ORBSLAM2
_ui->lineEdit_OdomORBSLAM2VocPath->setObjectName(Parameters::kOdomORBSLAM2VocPath().c_str());
connect(_ui->toolButton_OdomORBSLAM2VocPath, SIGNAL(clicked()), this, SLOT(changeOdometryORBSLAM2Vocabulary()));
_ui->doubleSpinBox_OdomORBSLAM2Bf->setObjectName(Parameters::kOdomORBSLAM2Bf().c_str());
_ui->doubleSpinBox_OdomORBSLAM2ThDepth->setObjectName(Parameters::kOdomORBSLAM2ThDepth().c_str());
//Stereo
_ui->stereo_winWidth->setObjectName(Parameters::kStereoWinWidth().c_str());
_ui->stereo_winHeight->setObjectName(Parameters::kStereoWinHeight().c_str());
@@ -3885,11 +3894,14 @@ void PreferencesDialog::setupKpRoiPanel()
void PreferencesDialog::updateOdometryVisibility()
{
UASSERT(_ui->odom_strategy->count() == 6);
_ui->groupBox_odomF2M->setVisible(_ui->odom_strategy->currentIndex()==0);
_ui->groupBox_odomF2F->setVisible(_ui->odom_strategy->currentIndex()==1);
_ui->groupBox_odomFovis->setVisible(_ui->odom_strategy->currentIndex()==2);
_ui->groupBox_odomViso2->setVisible(_ui->odom_strategy->currentIndex()==3);
_ui->groupBox_odomMono->setVisible(_ui->odom_strategy->currentIndex()==4);
_ui->groupBox_odomDVO->setVisible(_ui->odom_strategy->currentIndex()==4);
_ui->groupBox_odomORBSLAM2->setVisible(_ui->odom_strategy->currentIndex()==5);
_ui->groupBox_odomMono->setVisible(_ui->odom_strategy->currentIndex()==6);
}
void PreferencesDialog::updateKpROI()
@@ -3986,6 +3998,23 @@ void PreferencesDialog::changeDictionaryPath()
}
}
void PreferencesDialog::changeOdometryORBSLAM2Vocabulary()
{
QString path;
if(_ui->lineEdit_OdomORBSLAM2VocPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("ORBSLAM2 Vocabulary"), this->getWorkingDirectory());
}
else
{
path = QFileDialog::getOpenFileName(this, tr("ORBSLAM2 Vocabulary"), _ui->lineEdit_OdomORBSLAM2VocPath->text());
}
if(!path.isEmpty())
{
_ui->lineEdit_OdomORBSLAM2VocPath->setText(path);
}
}
void PreferencesDialog::updateSourceGrpVisibility()
{
_ui->groupBox_sourceRGBD->setVisible(_ui->comboBox_sourceType->currentIndex() == 0);