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VINS Fusion overhaul (#1580)

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* Updated correct focal length used by VINS, updated VINS visualization.

* Renamed OdometryVINS to OdometryVINSFusion
This commit is contained in:
matlabbe
2025-09-14 19:29:28 -07:00
committed by GitHub
parent 6a435c968f
commit cb0cc9ed18
15 changed files with 245 additions and 211 deletions
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guilib/src/PreferencesDialog.cpp
+8 -8
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@@ -226,7 +226,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_MSCKF_VIO
_ui->odom_strategy->setItemData(8, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_VINS
#ifndef RTABMAP_VINS_FUSION
_ui->odom_strategy->setItemData(9, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_OPENVINS
@@ -1556,8 +1556,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_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()));
_ui->lineEdit_OdomVinsFusionPath->setObjectName(Parameters::kOdomVINSFusionConfigPath().c_str());
connect(_ui->toolButton_OdomVinsFusionPath, SIGNAL(clicked()), this, SLOT(changeOdometryVINSFusionConfigPath()));
// Odometry OpenVINS
_ui->checkBox_OdomOpenVINSUseStereo->setObjectName(Parameters::kOdomOpenVINSUseStereo().c_str());
@@ -5476,7 +5476,7 @@ void PreferencesDialog::updateOdometryStackedIndex(int index)
_ui->groupBox_odomOKVIS->setVisible(index==6);
_ui->groupBox_odomLOAM->setVisible(index==7);
_ui->groupBox_odomMSCKF->setVisible(index==8);
_ui->groupBox_odomVINS->setVisible(index==9);
_ui->groupBox_odomVINSFusion->setVisible(index==9);
_ui->groupBox_odomOpenVINS->setVisible(index==10);
_ui->groupBox_odomOpen3D->setVisible(index==12);
}
@@ -5567,20 +5567,20 @@ void PreferencesDialog::changeOdometryOKVISConfigPath()
}
}
void PreferencesDialog::changeOdometryVINSConfigPath()
void PreferencesDialog::changeOdometryVINSFusionConfigPath()
{
QString path;
if(_ui->lineEdit_OdomVinsPath->text().isEmpty())
if(_ui->lineEdit_OdomVinsFusionPath->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)"));
path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), _ui->lineEdit_OdomVinsFusionPath->text(), tr("VINS-Fusion config (*.yaml)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_OdomVinsPath->setText(path);
_ui->lineEdit_OdomVinsFusionPath->setText(path);
}
}