mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
ZED driver: added option to use visual odometry approach from zed sdk. RtabmapThread: fixed thread state change on new map trigger on Odometry init (variance=9999). Odometry: on init, verify that the first frame is ok before sending first pose. Parameters: Mem/SaveDepth16Format is now false by default
This commit is contained in:
matlabbe
@@ -63,9 +63,9 @@
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@@ -2316,7 +2316,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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@@ -3104,7 +3104,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<widget class="QLabel" name="label_stereo_depthGenerated">
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<property name="text">
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<string>Generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can found under StereoBM tab.</string>
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@@ -3340,37 +3340,31 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Zed sdk</string>
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<item>
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<property name="text">
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<string>FILL</string>
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<string>STANDARD</string>
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<enum>Qt::Vertical</enum>
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<size>
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<width>20</width>
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<item>
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<widget class="QToolButton" name="toolButton_zedSvoPath">
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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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<widget class="QLineEdit" name="lineEdit_zedSvoPath">
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<property name="text">
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<string/>
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<item row="5" column="1">
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<widget class="QLabel" name="label_305">
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<property name="text">
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<string>Path to a *.SVO file.</string>
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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="QComboBox" name="comboBox_stereoZed_resolution">
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@@ -3396,10 +3390,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</item>
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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_274">
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<item row="2" column="1">
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<widget class="QLabel" name="label_291">
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<property name="text">
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<string>Resolution. Not used when a SVO file is used.</string>
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<string>Sensing mode.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -3409,6 +3403,20 @@ 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="2" column="0">
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<widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
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<item>
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<property name="text">
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<string>FILL</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>STANDARD</string>
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</property>
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</item>
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</widget>
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<item row="1" column="0">
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<widget class="QComboBox" name="comboBox_stereoZed_quality">
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<item>
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@@ -3433,58 +3441,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</item>
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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_290">
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<property name="text">
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<string>Quality. If NONE, the disparity is not computed on the GPU.</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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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_291">
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<property name="text">
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<string>Sensing mode.</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 name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QLabel" name="label_305">
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<property name="text">
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<string>Path to a *.SVO file.</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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</item>
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<item row="5" column="0">
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<spacer name="verticalSpacer_54">
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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>13</height>
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</spacer>
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<item row="3" column="1">
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<widget class="QLabel" name="label_306">
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<property name="text">
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@@ -3498,6 +3454,50 @@ 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="0" column="1">
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<widget class="QLabel" name="label_274">
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<property name="text">
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<string>Resolution. Not used when a SVO file 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="5" column="0">
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<layout class="QHBoxLayout" name="horizontalLayout_8">
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<item>
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<widget class="QToolButton" name="toolButton_zedSvoPath">
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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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<item>
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<widget class="QLineEdit" name="lineEdit_zedSvoPath">
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<property name="text">
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<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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<item row="1" column="1">
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<widget class="QLabel" name="label_290">
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<property name="text">
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<string>Quality. If NONE, the disparity is not computed on the GPU.</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="3" column="0">
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<widget class="QSpinBox" name="spinBox_stereoZed_confidenceThr">
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<property name="maximum">
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@@ -3505,6 +3505,26 @@ 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="4" column="1">
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<widget class="QLabel" name="label_316">
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<property name="text">
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<string>Use ZED visual odometry.</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="4" column="0">
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<widget class="QCheckBox" name="checkbox_stereoZed_odom">
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<property name="text">
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<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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</widget>
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</item>
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