mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Integrated ORB_SLAM2 as an odometry approach Odom/Strategy=5.
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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<rect>
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<x>0</x>
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<y>-34</y>
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<y>-637</y>
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<width>678</width>
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<height>2739</height>
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</rect>
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@@ -9714,6 +9714,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<string>DVO</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>ORB SLAM 2</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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@@ -9985,7 +9990,7 @@ 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>4</number>
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<number>5</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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@@ -11512,7 +11517,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<widget class="QWidget" name="page_69">
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<layout class="QVBoxLayout" name="verticalLayout_122">
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<item>
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<widget class="QGroupBox" name="groupBox_27">
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<widget class="QGroupBox" name="groupBox_odomDVO">
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<property name="title">
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<string>DVO</string>
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</property>
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@@ -11551,6 +11556,145 @@ 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_70">
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<layout class="QVBoxLayout" name="verticalLayout_125">
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<item>
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<widget class="QGroupBox" name="groupBox_odomORBSLAM2">
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<property name="title">
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<string>ORB SLAM 2</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_124">
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<item>
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<widget class="QLabel" name="label_412">
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<property name="text">
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<string><html><head/><body><p>ORB SLAM 2: <a href="https://github.com/raulmur/ORB_SLAM2"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/raulmur/ORB_SLAM2</span></a></p><p>Tracking and local mapping from ORB SLAM 2 is done but loop closure detection is disabled, using RTAB-Map loop closure detection instead. See ORB panel for ORB parameters (pyramid scale and number of pyramids). See FAST panel for FAST parameters (init and min thresholds). Vis/MaxFeatures (see Visual Registration panel) is used as the number of ORB features extracted.<br/></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_93" columnstretch="0,0,1">
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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAM2Bf">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>9.999900000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.076000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_415">
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<property name="text">
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<string>Path to ORB vocabulary (*.txt).</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="1">
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<widget class="QLineEdit" name="lineEdit_OdomORBSLAM2VocPath"/>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="label_414">
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<property name="text">
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<string>Close/Far threshold. Baseline times.</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="2" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAM2ThDepth">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="minimum">
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<double>0.100000000000000</double>
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</property>
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<property name="maximum">
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<double>999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>40.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_413">
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<property name="text">
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<string>Fake IR projector baseline used only when stereo is not used.</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_OdomORBSLAM2VocPath">
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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_64">
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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>40</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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@@ -14933,10 +15077,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<layout class="QFormLayout" name="formLayout_2">
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<property name="fieldGrowthPolicy">
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout_94" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QSpinBox" name="fastThreshold">
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<property name="minimum">
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@@ -14964,6 +15105,32 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QSpinBox" name="fastThresholdMin">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>50</number>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_111">
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<property name="text">
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<string>Minimum threshold. Used when FAST/GridRows and FAST/GridCols are set or if ORBSLAM2 odometry is used.</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="2" column="0">
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<widget class="QCheckBox" name="fastSuppressNonMax">
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<property name="text">
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<string/>
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@@ -14973,7 +15140,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_69">
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<property name="text">
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<string>If true, non-maximum suppression is applied to detected corners (keypoints).</string>
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@@ -14994,32 +15161,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<string>OpenCV 2</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_71" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QSpinBox" name="fastThresholdMin">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>50</number>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_111">
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<property name="text">
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<string>Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.</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="1" column="0">
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<widget class="QSpinBox" name="fastThresholdMax">
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<property name="minimum">
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