mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.
This commit is contained in:
matlabbe
@@ -24,37 +24,6 @@
|
||||
<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_49">
|
||||
<item row="1" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QRadioButton" name="radioButton_basic">
|
||||
<property name="text">
|
||||
<string>Basic</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QRadioButton" name="radioButton_advanced">
|
||||
<property name="text">
|
||||
<string>Advanced</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QDialogButtonBox" name="buttonBox_global">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="standardButtons">
|
||||
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1">
|
||||
<property name="spacing">
|
||||
@@ -94,7 +63,7 @@
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>-359</y>
|
||||
<y>-1977</y>
|
||||
<width>680</width>
|
||||
<height>3082</height>
|
||||
</rect>
|
||||
@@ -2731,7 +2700,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<property name="title">
|
||||
<string>Source</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0,0,1">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="0,0,0,0,0,1">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_28" columnstretch="0,1">
|
||||
<item row="1" column="1">
|
||||
@@ -3122,7 +3091,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<item>
|
||||
<widget class="QStackedWidget" name="stackedWidget_rgbd">
|
||||
<property name="currentIndex">
|
||||
<number>9</number>
|
||||
<number>6</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_32">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_63">
|
||||
@@ -4075,7 +4044,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_55">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_103">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_103" stretch="0,1">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_realsense2">
|
||||
<property name="sizePolicy">
|
||||
@@ -4152,7 +4121,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>338</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -4320,7 +4289,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<item>
|
||||
<widget class="QStackedWidget" name="stackedWidget_stereo">
|
||||
<property name="currentIndex">
|
||||
<number>7</number>
|
||||
<number>5</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_49">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_91">
|
||||
@@ -4868,6 +4837,41 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_80">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_140">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_cameraStereoRealSense2">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>RealSense2</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_108" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkbox_stereoRealSense2_odom">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_546">
|
||||
<property name="text">
|
||||
<string>Use RealSense2 visual inertial odometry.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_78">
|
||||
<property name="orientation">
|
||||
@@ -4876,7 +4880,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>471</height>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
@@ -6034,6 +6038,307 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_imuFiltering">
|
||||
<property name="title">
|
||||
<string>IMU Filtering</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_141">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_109" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QComboBox" name="comboBox_imuFilter_strategy">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>None</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Madgwick Filter</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Complementary Filter</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_541">
|
||||
<property name="text">
|
||||
<string>IMU filtering strategy used to estimate the orientation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QStackedWidget" name="stackedWidget_imuFilter">
|
||||
<property name="currentIndex">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_83">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_144">
|
||||
<item>
|
||||
<spacer name="verticalSpacer_80">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_81">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_142">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_madgwickfilter">
|
||||
<property name="title">
|
||||
<string>Madgwick Filter</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_110" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterMadgwickGain">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_542">
|
||||
<property name="text">
|
||||
<string>Gain.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterMadgwickZeta">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_543">
|
||||
<property name="text">
|
||||
<string>Zeta.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_79">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="page_82">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_143">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_complementaryfilter">
|
||||
<property name="title">
|
||||
<string>Complementary Filter</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_111" columnstretch="0,1">
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_547">
|
||||
<property name="text">
|
||||
<string>Do bias estimation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_544">
|
||||
<property name="text">
|
||||
<string>Gain acc.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_imuFilterComplementaryDoBiasEstimation">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterComplementaryGainAcc">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_545">
|
||||
<property name="text">
|
||||
<string>Bias alpha.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_imuFilterComplementaryBiasAlpha">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_imuFilterComplementaryDoAdaptiveGain">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_548">
|
||||
<property name="text">
|
||||
<string>Do adaptive gain.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_81">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_scan">
|
||||
<property name="title">
|
||||
@@ -20132,6 +20437,37 @@ Lower the ratio -> higher the precision.</string>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<widget class="QRadioButton" name="radioButton_basic">
|
||||
<property name="text">
|
||||
<string>Basic</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QRadioButton" name="radioButton_advanced">
|
||||
<property name="text">
|
||||
<string>Advanced</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QDialogButtonBox" name="buttonBox_global">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="standardButtons">
|
||||
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
|
||||
Reference in New Issue
Block a user