mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added LOAM (loam_velodyne) odometry support
This commit is contained in:
matlabbe
@@ -94,7 +94,7 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-396</y>
|
||||
<y>-609</y>
|
||||
<width>681</width>
|
||||
<height>2811</height>
|
||||
</rect>
|
||||
@@ -126,7 +126,7 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>5</number>
|
||||
<number>18</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
|
||||
@@ -10813,6 +10813,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<string>OKVIS</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>LOAM</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
@@ -11084,7 +11089,7 @@ 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>6</number>
|
||||
<number>7</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_52">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_77">
|
||||
@@ -13086,7 +13091,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<widget class="QWidget" name="page_54">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_85" stretch="0,1">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odomORBSLAM2_2">
|
||||
<widget class="QGroupBox" name="groupBox_odomOKVIS">
|
||||
<property name="title">
|
||||
<string>OKVIS</string>
|
||||
</property>
|
||||
@@ -13152,6 +13157,180 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_73">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_130" stretch="0,1">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_odomLOAM">
|
||||
<property name="title">
|
||||
<string>LOAM</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_129" stretch="0,1">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_472">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p>LOAM: <a href="https://github.com/laboshinl/loam_velodyne"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/laboshinl/loam_velodyne</span></a></p><p>Velodyne input required. Currently tested only with KITTI data set and with pull request #66.</p></body></html></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_101" columnstretch="0,1">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_475">
|
||||
<property name="text">
|
||||
<string>Linear output variance.</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="1">
|
||||
<widget class="QLabel" name="label_473">
|
||||
<property name="text">
|
||||
<string>Velodyne sensor.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_474">
|
||||
<property name="text">
|
||||
<string>Scan period (s).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_loam_scan_period">
|
||||
<property name="minimum">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QComboBox" name="odom_loam_sensor">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>VLP-16</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>HDL-32</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>HDL-64E</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_476">
|
||||
<property name="text">
|
||||
<string>Angular output variance.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_loam_linvar">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="odom_loam_angvar">
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.000100000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.500000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_73">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>961</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_26">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_88">
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user