i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

ORB-SLAM3 IMU support fixes (#1612)

Browse Source 
* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible.

* Output error msg when vocabulary path is wrong.

* Showing full local feature map
This commit is contained in:
matlabbe
2025-11-11 14:09:13 -08:00
committed by GitHub
parent c97f0c10dd
commit e612d103bf
8 changed files with 120 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/PreferencesDialog.cpp
+8 -4
View File
@@ -6761,7 +6761,8 @@ Camera * PreferencesDialog::createCamera(
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0,
getIMUFilteringBaseFrameConversion());
}
else if (driver == kSrcRealSense)
{
@@ -6803,7 +6804,8 @@ Camera * PreferencesDialog::createCamera(
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0,
getIMUFilteringBaseFrameConversion());
if(driver == kSrcStereoRealSense2)
{
((CameraRealSense2*)camera)->setImagesRectified((_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages);
@@ -7021,7 +7023,8 @@ Camera * PreferencesDialog::createCamera(
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0,
getIMUFilteringBaseFrameConversion());
((CameraStereoZed*)camera)->setRightGrayScale(_ui->checkBox_stereo_rightGrayScale->isChecked());
}
else if (driver == kSrcStereoZedOC)
@@ -7070,7 +7073,8 @@ Camera * PreferencesDialog::createCamera(
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0,
getIMUFilteringBaseFrameConversion());
}
else if(driver == kSrcUsbDevice)
{
guilib/src/ui/preferencesDialog.ui
+35 -16
View File
@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>1009</width>
<width>980</width>
<height>925</height>
</rect>
</property>
@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-949</y>
<width>713</width>
<height>4922</height>
<y>-1237</y>
<width>684</width>
<height>5110</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -95,7 +95,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>12</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -8308,7 +8308,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="1" column="1">
<widget class="QLabel" name="label_563">
<property name="text">
<string>Publish inter IMU messages from the camera. IMU received between images will be published as separate topic. Orientation overridden (if any) if IMU filtering is used.</string>
<string>Publish inter IMU messages from the camera. IMU received between images will be published as separate topic. Orientation overridden (if any) if IMU filtering is used. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -16349,7 +16349,7 @@ 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>0</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_52">
<layout class="QVBoxLayout" name="verticalLayout_77">
@@ -18580,23 +18580,39 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item>
<widget class="QGroupBox" name="groupBox_OdomORBSLAMInertial">
<property name="title">
<string>Enable IMU. Only supported with ORB_SLAM3.</string>
<string>Enable IMU.</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_169">
<item>
<widget class="QLabel" name="label_621">
<property name="text">
<string>Only supported with ORB_SLAM3. Inter IMU publishing should be enabled (see Source panel under IMU Filtering section).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_129" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMGyroNoise">
<property name="decimals">
<number>8</number>
<number>6</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
<double>0.000001000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
@@ -18643,12 +18659,15 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMAccNoise">
<property name="decimals">
<number>8</number>
<number>6</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
<double>0.000001000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
@@ -18682,10 +18701,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMGyroWalk">
<property name="decimals">
<number>8</number>
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
<double>0.000001000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
@@ -18701,10 +18720,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBSLAMAccWalk">
<property name="decimals">
<number>8</number>
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
<double>0.000001000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>