mirror of
https://github.com/introlab/rtabmap.git
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Added ORB_SLAM3 support. IMU Filter: added base frame conversion option. (#698)
Referred issues: #655 https://github.com/introlab/rtabmap_ros/issues/492 Note: IMU not supported yet with ORB_SLAM3. Commits: * Added orbslam3 support. UI-Source->IMU filtering: Added base frame conversion option of IMU data to uniformize yaw initialization. Madgwick: fixed yaw initialization accordingly to Z acc. * fixed regression build error with ORB_SLAM2 * Renamed OdometryORBSLAM2 to OdometryORBSLAM (can be 2 or 3 now)
This commit is contained in:
matlabbe
@@ -162,9 +162,9 @@ p, li { white-space: pre-wrap; }
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<rect>
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<y>-228</y>
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<y>-567</y>
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@@ -430,7 +430,7 @@ p, li { white-space: pre-wrap; }
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</widget>
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</item>
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<item row="35" column="0">
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<widget class="QLabel" name="label_28">
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<widget class="QLabel" name="label_orbslam_title">
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<property name="text">
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<string>With ORB SLAM 2 :</string>
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</property>
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@@ -450,7 +450,7 @@ p, li { white-space: pre-wrap; }
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</widget>
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</item>
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<item row="35" column="1">
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<widget class="QLabel" name="label_orbslam2">
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<widget class="QLabel" name="label_orbslam">
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<property name="text">
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<string/>
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</property>
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@@ -944,7 +944,7 @@ p, li { white-space: pre-wrap; }
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</widget>
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</item>
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<item row="35" column="2">
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<widget class="QLabel" name="label_orbslam2_license">
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<widget class="QLabel" name="label_orbslam_license">
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<property name="text">
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<string>GPLv3</string>
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</property>
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@@ -65,7 +65,7 @@
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<x>0</x>
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<height>3397</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -7212,7 +7212,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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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<item row="2" column="0">
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<widget class="QCheckBox" name="checkbox_publishInterIMU">
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<property name="text">
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<string/>
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@@ -7222,16 +7222,36 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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_563">
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<property name="text">
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<string>Publish inter IMU messages from the camera. IMU received between images will be published as separate topic.</string>
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<string>Publish inter IMU messages from the camera. IMU received between images will be published as separate topic. IMU filtering strategy will be ignored.</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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</widget>
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<item row="1" column="1">
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<widget class="QLabel" name="label_621">
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<property name="text">
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<string>Convert IMU in base frame before filtering. This can help to initialize correctly the yaw.</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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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QCheckBox" name="checkBox_imuFilter_baseFrameConversion">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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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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<item>
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@@ -13572,7 +13592,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</item>
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<item>
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<property name="text">
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<string>ORB SLAM 2</string>
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<string>ORB SLAM</string>
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</property>
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</item>
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<item>
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@@ -13898,7 +13918,7 @@ 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>0</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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@@ -15778,15 +15798,15 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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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<widget class="QGroupBox" name="groupBox_odomORBSLAM">
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<property name="title">
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<string>ORB SLAM 2</string>
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<string>ORB SLAM</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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<string><html><head/><body><p>ORB SLAM2: <a href="https://github.com/raulmur/ORB_SLAM2"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/UZ-SLAMLab/ORB_SLAM3</span></a><br/>ORB SLAM3: <a href="https://github.com/UZ-SLAMLab/ORB_SLAM3"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/raulmur/ORB_SLAM2</span></a></p><p>Tracking and local mapping from ORB SLAM 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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@@ -15802,7 +15822,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<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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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAMBf">
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<property name="suffix">
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<string> m</string>
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</property>
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@@ -15837,7 +15857,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAMThDepth">
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<property name="suffix">
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<string/>
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</property>
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@@ -15872,7 +15892,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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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<widget class="QLineEdit" name="lineEdit_OdomORBSLAMVocPath"/>
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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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@@ -15888,7 +15908,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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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<widget class="QToolButton" name="toolButton_OdomORBSLAMVocPath">
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<property name="text">
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<string>...</string>
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</property>
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@@ -15908,7 +15928,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAM2Fps">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_OdomORBSLAMFps">
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<property name="enabled">
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<bool>false</bool>
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</property>
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@@ -15946,7 +15966,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QSpinBox" name="spinBox_OdomORBSLAM2MaxFeatures">
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<widget class="QSpinBox" name="spinBox_OdomORBSLAMMaxFeatures">
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<property name="maximum">
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<number>99999</number>
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</property>
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@@ -15969,7 +15989,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QSpinBox" name="spinBox_OdomORBSLAM2MapSize">
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<widget class="QSpinBox" name="spinBox_OdomORBSLAMMapSize">
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<property name="maximum">
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<number>999999</number>
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</property>
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