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Integration of viso2 odometry approach.

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This commit is contained in:
matlabbe
2017-05-30 14:03:46 -04:00
parent 4ffbc0fb58
commit f6e21bd6c8
13 changed files with 406 additions and 14 deletions
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15
guilib/src/PreferencesDialog.cpp
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@@ -159,6 +159,13 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->label_realsenseOdom->setEnabled(false);
#endif
#ifndef RTABMAP_FOVIS
_ui->odom_strategy->setItemData(2, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_VISO2
_ui->odom_strategy->setItemData(3, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_NONFREE
_ui->comboBox_detector_strategy->setItemData(0, 0, Qt::UserRole - 1);
_ui->comboBox_detector_strategy->setItemData(1, 0, Qt::UserRole - 1);
@@ -872,6 +879,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
//Odometry
_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryType, SLOT(setCurrentIndex(int)));
connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOdometryVisibility()));
_ui->odom_strategy->setCurrentIndex(Parameters::defaultOdomStrategy());
_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
@@ -3823,6 +3831,13 @@ void PreferencesDialog::setupKpRoiPanel()
_ui->doubleSpinBox_kp_roi3->setValue(strings[3].toDouble()*100.0);
}
void PreferencesDialog::updateOdometryVisibility()
{
_ui->stackedWidget_odometryType->setVisible(
_ui->odom_strategy->currentIndex() == 2 || // fovis
_ui->odom_strategy->currentIndex() == 3); // viso2
}
void PreferencesDialog::updateKpROI()
{
QStringList strings;