Integration of viso2 odometry approach.

CMakeLists.txt

@@ -153,6 +153,7 @@ option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
 option(WITH_OCTOMAP       "Include Octomap support"              ON)
 option(WITH_CPUTSDF       "Include CPUTSDF support"              ON)
 option(WITH_FOVIS         "Include FOVIS support"                ON)
+option(WITH_VISO2         "Include VISO2 support"                ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -352,6 +353,14 @@ IF(WITH_FOVIS)
     ENDIF(libfovis_FOUND)
 ENDIF(WITH_FOVIS)
 
+IF(WITH_VISO2)
+    FIND_PACKAGE(libviso2 QUIET)
+    IF(libviso2_FOUND)
+       MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}")
+    ENDIF(libviso2_FOUND)
+ENDIF(WITH_VISO2)
+
+
 IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
    #Newest versions require std11
    IF(NOT MSVC)
@@ -479,6 +488,11 @@ IF(NOT libfovis_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libfovis_LIBRARIES}) 
 ENDIF()
+IF(NOT libviso2_FOUND)
+   SET(VISO2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libviso2_LIBRARIES}) 
+ENDIF()
 IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
    SET(CONF_VTK_QT true)
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
@@ -810,6 +824,14 @@ ELSE()
 MESSAGE(STATUS "  With libfovis             = NO (libfovis not found)")
 ENDIF()
 
+IF(libviso2_FOUND)
+MESSAGE(STATUS "  With libviso2             = YES (License: GPLv3)")
+ELSEIF(NOT WITH_VISO2)
+MESSAGE(STATUS "  With libviso2             = NO (WITH_VISO2=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libviso2             = NO (libviso2 not found)")
+ENDIF()
+
 IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
 ELSEIF(Qt5_FOUND)

Version.h.in

@@ -55,6 +55,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @OCTOMAP@#define RTABMAP_OCTOMAP
 @CPUTSDF@#define RTABMAP_CPUTSDF
 @FOVIS@#define RTABMAP_FOVIS
+@VISO2@#define RTABMAP_VISO2
 
 #endif /* VERSION_H_ */
 

corelib/include/rtabmap/core/Odometry.h

@@ -46,7 +46,8 @@ public:
 		kTypeUndef = -1,
 		kTypeF2M = 0,
 		kTypeF2F = 1,
-		kTypeFovis = 2
+		kTypeFovis = 2,
+		kTypeViso2 = 3
 	};
 
 public:

corelib/include/rtabmap/core/OdometryFovis.h

@@ -40,8 +40,6 @@ class StereoDepth;
 
 namespace rtabmap {
 
-class Registration;
-
 class RTABMAP_EXP OdometryFovis : public Odometry
 {
 public:

corelib/include/rtabmap/core/OdometryViso2.h

@@ -0,0 +1,61 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYVISO2_H_
+#define ODOMETRYVISO2_H_
+
+#include <rtabmap/core/Odometry.h>
+
+class VisualOdometryStereo;
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryViso2 : public Odometry
+{
+public:
+	OdometryViso2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryViso2();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeViso2;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+	VisualOdometryStereo * viso2_;
+	int ref_frame_change_method_;       // Reference frame method (defautl 0): 0=under inliers threshold, 1=min pixel motion,
+	int ref_frame_inlier_threshold_;    // method 0. Change the reference frame if the number of inliers is low
+	double ref_frame_motion_threshold_; // method 1. Change the reference frame if last motion is small
+	bool lost_;
+	bool keep_reference_frame_;
+	Transform reference_motion_;
+};
+
+}
+
+#endif /* ODOMETRYVISO2_H_ */

corelib/include/rtabmap/core/Parameters.h

@@ -363,7 +363,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(GTSAM, Optimizer,             int, 1,          "0=Levenberg 1=GaussNewton 2=Dogleg");
 
 	// Odometry
-	RTABMAP_PARAM(Odom, Strategy,           	int, 0, 		"0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis");
+	RTABMAP_PARAM(Odom, Strategy,           	int, 0, 		"0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2");
 	RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,         "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
 	RTABMAP_PARAM(Odom, Holonomic, 		        bool, true,     "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
 	RTABMAP_PARAM(Odom, FillInfoData, 		    bool, true,     "Fill info with data (inliers/outliers features).");

corelib/src/CMakeLists.txt

@@ -61,6 +61,7 @@ SET(SRC_FILES
 	OdometryMono.cpp
 	OdometryF2F.cpp
 	OdometryFovis.cpp
+	OdometryViso2.cpp
 	
 	Stereo.cpp
 	StereoDense.cpp
@@ -287,6 +288,17 @@ IF(libfovis_FOUND)
 	)
 ENDIF(libfovis_FOUND)
 
+IF(libviso2_FOUND)
+    SET(INCLUDE_DIRS
+		${INCLUDE_DIRS}
+		${libviso2_INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${LIBRARIES}
+		${libviso2_LIBRARIES}
+	)
+ENDIF(libviso2_FOUND)
+
 ####################################
 # Generate resources files
 ####################################

corelib/src/Odometry.cpp

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/Odometry.h"
 #include "rtabmap/core/OdometryF2F.h"
 #include "rtabmap/core/OdometryFovis.h"
+#include "rtabmap/core/OdometryViso2.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/util3d_mapping.h"
@@ -57,6 +58,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
 	Odometry * odometry = 0;
 	switch(type)
 	{
+	case Odometry::kTypeViso2:
+		odometry = new OdometryViso2(parameters);
+		break;
 	case Odometry::kTypeFovis:
 		odometry = new OdometryFovis(parameters);
 		break;

corelib/src/OdometryViso2.cpp

@@ -0,0 +1,270 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "rtabmap/core/OdometryViso2.h"
+#include "rtabmap/core/OdometryInfo.h"
+#include "rtabmap/core/util2d.h"
+#include "rtabmap/core/Version.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UTimer.h"
+#include "rtabmap/utilite/UStl.h"
+
+#ifdef RTABMAP_VISO2
+#include <viso_stereo.h>
+
+double computeFeatureFlow(const std::vector<Matcher::p_match>& matches)
+  {
+    double total_flow = 0.0;
+    for (size_t i = 0; i < matches.size(); ++i)
+    {
+      double x_diff = matches[i].u1c - matches[i].u1p;
+      double y_diff = matches[i].v1c - matches[i].v1p;
+      total_flow += sqrt(x_diff * x_diff + y_diff * y_diff);
+    }
+    return total_flow / matches.size();
+}
+#endif
+
+namespace rtabmap {
+
+OdometryViso2::OdometryViso2(const ParametersMap & parameters) :
+	Odometry(parameters),
+	viso2_(0),
+	ref_frame_change_method_(0),
+	ref_frame_inlier_threshold_(Parameters::defaultOdomVisKeyFrameThr()),
+	ref_frame_motion_threshold_(5.0),
+	lost_(false),
+	keep_reference_frame_(false),
+	reference_motion_(Transform::getIdentity())
+{
+	Parameters::parse(parameters, Parameters::kOdomVisKeyFrameThr(), ref_frame_inlier_threshold_);
+}
+
+OdometryViso2::~OdometryViso2()
+{
+#ifdef RTABMAP_VISO2
+	if(viso2_)
+	{
+		delete viso2_;
+	}
+#endif
+}
+
+void OdometryViso2::reset(const Transform & initialPose)
+{
+	Odometry::reset(initialPose);
+#ifdef RTABMAP_VISO2
+	if(viso2_)
+	{
+		delete viso2_;
+		viso2_ = 0;
+	}
+	lost_ = false;
+	reference_motion_.setIdentity();
+#endif
+}
+
+// return not null transform if odometry is correctly computed
+Transform OdometryViso2::computeTransform(
+		SensorData & data,
+		const Transform & guess,
+		OdometryInfo * info)
+{
+	Transform t;
+#ifdef RTABMAP_VISO2
+	//based on https://github.com/srv/viso2/blob/indigo/viso2_ros/src/stereo_odometer.cpp
+
+	UTimer timer;
+
+	if(!data.depthRaw().empty())
+	{
+		UERROR("viso2 odometry doesn't support RGB-D data, only stereo. Aborting odometry update...");
+		return t;
+	}
+
+	if(data.imageRaw().empty() ||
+		data.imageRaw().rows != data.rightRaw().rows ||
+		data.imageRaw().cols != data.rightRaw().cols)
+	{
+		UERROR("Not compatible left (%dx%d) or right (%dx%d) image.",
+				data.imageRaw().rows,
+				data.imageRaw().cols,
+				data.rightRaw().rows,
+				data.rightRaw().cols);
+		return t;
+	}
+
+	if(!(data.stereoCameraModel().isValidForProjection() &&
+		 data.stereoCameraModel().left().isValidForReprojection() &&
+		 data.stereoCameraModel().right().isValidForReprojection()))
+	{
+		UERROR("Invalid stereo camera model!");
+		return t;
+	}
+
+	cv::Mat leftGray;
+	if(data.imageRaw().type() == CV_8UC3)
+	{
+		cv::cvtColor(data.imageRaw(), leftGray, CV_BGR2GRAY);
+	}
+	else if(data.imageRaw().type() == CV_8UC1)
+	{
+		leftGray = data.imageRaw();
+	}
+	else
+	{
+		UFATAL("Not supported color type!");
+	}
+	cv::Mat rightGray;
+	if(data.rightRaw().type() == CV_8UC3)
+	{
+		cv::cvtColor(data.rightRaw(), rightGray, CV_BGR2GRAY);
+	}
+	else if(data.rightRaw().type() == CV_8UC1)
+	{
+		rightGray = data.rightRaw();
+	}
+	else
+	{
+		UFATAL("Not supported color type!");
+	}
+
+	int32_t dims[] = {leftGray.cols, leftGray.rows, leftGray.cols};
+	cv::Mat covariance;
+	if(viso2_ == 0)
+	{
+		VisualOdometryStereo::parameters params;
+		params.base      = data.stereoCameraModel().baseline();
+		params.calib.cu  = data.stereoCameraModel().left().cx();
+		params.calib.cv  = data.stereoCameraModel().left().cy();
+		params.calib.f   = data.stereoCameraModel().left().fx();
+		viso2_ = new VisualOdometryStereo(params);
+
+		viso2_->process(leftGray.data, rightGray.data, dims);
+		t.setIdentity();
+		covariance = cv::Mat::eye(6,6, CV_64FC1)*9999.0;
+	}
+	else
+	{
+		bool success = viso2_->process(leftGray.data, rightGray.data, dims, lost_ || keep_reference_frame_);
+		if (success)
+		{
+			Matrix motionViso = Matrix::inv(viso2_->getMotion());
+			Transform motion(motionViso.val[0][0], motionViso.val[0][1], motionViso.val[0][2],motionViso.val[0][3],
+					motionViso.val[1][0], motionViso.val[1][1], motionViso.val[1][2],motionViso.val[1][3],
+					motionViso.val[2][0], motionViso.val[2][1], motionViso.val[2][2], motionViso.val[2][3]);
+			Transform camera_motion;
+
+			if(lost_ || keep_reference_frame_)
+			{
+			  camera_motion = reference_motion_.inverse() * motion;
+			}
+			else
+			{
+			  camera_motion = motion;
+			}
+			reference_motion_ = motion; // store last motion as reference
+
+			t=camera_motion;
+
+			//based on values set in viso2_ros
+			covariance = cv::Mat::eye(6,6, CV_64FC1);
+			covariance.at<double>(0,0) = 0.002;
+			covariance.at<double>(1,1) = 0.002;
+			covariance.at<double>(2,2) = 0.05;
+			covariance.at<double>(3,3) = 0.09;
+			covariance.at<double>(4,4) = 0.09;
+			covariance.at<double>(5,5) = 0.09;
+
+			lost_=false;
+		}
+		else
+		{
+			covariance = cv::Mat::eye(6,6, CV_64FC1)*9999.0;
+			lost_ = true;
+		}
+
+		if(success)
+		{
+			// Proceed depending on the reference frame change method
+			if(ref_frame_change_method_==1)
+			{
+				// calculate current feature flow
+				double feature_flow = computeFeatureFlow(viso2_->getMatches());
+				keep_reference_frame_ = (feature_flow < ref_frame_motion_threshold_);
+			}
+			else
+			{
+				keep_reference_frame_ = ref_frame_inlier_threshold_==0 || viso2_->getNumberOfInliers() > ref_frame_inlier_threshold_;
+			}
+		}
+		else
+		{
+			keep_reference_frame_ = false;
+		}
+	}
+
+	if(!t.isNull() && !t.isIdentity() && !data.stereoCameraModel().localTransform().isIdentity() && !data.stereoCameraModel().localTransform().isNull())
+	{
+		// from camera frame to base frame
+		t = data.stereoCameraModel().localTransform() * t * data.stereoCameraModel().localTransform().inverse();
+	}
+
+	if(info)
+	{
+		info->type = (int)kTypeViso2;
+		info->keyFrameAdded = !keep_reference_frame_;
+		info->matches = viso2_->getNumberOfMatches();
+		info->inliers = viso2_->getNumberOfInliers();
+		if(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1)
+		{
+			info->covariance = covariance;
+		}
+
+		std::vector<Matcher::p_match> matches = viso2_->getMatches();
+		info->refCorners.resize(matches.size());
+		info->newCorners.resize(matches.size());
+		info->cornerInliers.resize(matches.size());
+		for (size_t i = 0; i < matches.size(); ++i)
+		{
+			info->refCorners[i].x = matches[i].u1c;
+			info->refCorners[i].y = matches[i].v1c;
+			info->newCorners[i].x = matches[i].u1p;
+			info->newCorners[i].y = matches[i].v1p;
+			info->cornerInliers[i] = i;
+		}
+	}
+
+	UINFO("Odom update time = %fs lost=%s", timer.elapsed(), lost_?"true":"false");
+
+#else
+	UERROR("RTAB-Map is not built with VISO2 support! Select another visual odometry approach.");
+#endif
+	return t;
+}
+
+} // namespace rtabmap

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -299,6 +299,7 @@ private slots:
 	void addParameter(const QString & value);
 	void updatePredictionPlot();
 	void updateKpROI();
+	void updateOdometryVisibility();
 	void updateStereoDisparityVisibility();
 	void useOdomFeatures();
 	void useGridProjRayTracing();

guilib/src/MainWindow.cpp

@@ -1188,7 +1188,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 	{
 		if(_ui->imageView_odometry->isFeaturesShown())
 		{
-			if(odom.info().type == 0)
+			if(odom.info().type == (int)Odometry::kTypeF2M)
 			{
 				if(_preferencesDialog->isOdomOnlyInliersShown())
 				{
@@ -1210,10 +1210,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 							Qt::yellow);
 				}
 			}
-			else if(odom.info().type == 1)
+			else if(odom.info().type == (int)Odometry::kTypeF2F || odom.info().type == (int)Odometry::kTypeViso2)
 			{
 				std::vector<cv::KeyPoint> kpts;
-				cv::KeyPoint::convert(odom.info().refCorners, kpts);
+				cv::KeyPoint::convert(odom.info().refCorners, kpts, 7);
 				_ui->imageView_odometry->setFeatures(
 						kpts,
 						odom.data().depthRaw(),
@@ -1223,10 +1223,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 
 		//detect if it is OdometryMono intitialization
 		bool monoInitialization = false;
-		if(_preferencesDialog->getOdomStrategy() == 2 && odom.info().type == 1)
+		//if(_preferencesDialog->getOdomStrategy() ==  ?? && odom.info().type == (int)Odometry::kTypeF2F)
-		{
+		//{
-			monoInitialization = true;
+		//	monoInitialization = true;
-		}
+		//}
 
 		_ui->imageView_odometry->clearLines();
 		if(lost && !monoInitialization)
@@ -1256,7 +1256,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 				_ui->imageView_odometry->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
 			}
 
-			if(odom.info().type == 0)
+			if(odom.info().type == (int)Odometry::kTypeF2M)
 			{
 				if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
 				{
@@ -1270,7 +1270,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 					}
 				}
 			}
-			if(odom.info().type == 1 && odom.info().refCorners.size())
+			if((odom.info().type == (int)Odometry::kTypeF2F || odom.info().type == (int)Odometry::kTypeViso2) && odom.info().refCorners.size())
 			{
 				if(_ui->imageView_odometry->isFeaturesShown() || _ui->imageView_odometry->isLinesShown())
 				{

guilib/src/PreferencesDialog.cpp

@@ -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;

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-530</y>
             <width>678</width>
             <height>2739</height>
            </rect>
@@ -9704,6 +9704,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                           <string>Fovis</string>
                          </property>
                         </item>
+                        <item>
+                         <property name="text">
+                          <string>Viso2</string>
+                         </property>
+                        </item>
                        </widget>
                       </item>
                       <item row="2" column="1">
@@ -10218,6 +10223,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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