mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 09:07:47 +08:00
CID-SIMS support (#1676)
* cid-sims dataset support * Added cli tool to test CID-SIMS dataset * removed debug log
This commit is contained in:
matlabbe
@@ -3313,7 +3313,7 @@ void MainWindow::updateMapCloud(
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{
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std::string gtFrustumId = uFormat("f_gt_%d", iter->first);
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color = Qt::gray;
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_cloudViewer->addOrUpdateFrustum(gtFrustumId, _currentGTPosesMap.at(iter->first), t, _cloudViewer->getFrustumScale(), color, model.fovX(), model.fovY());
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_cloudViewer->addOrUpdateFrustum(gtFrustumId, mapToGt*_currentGTPosesMap.at(iter->first), t, _cloudViewer->getFrustumScale(), color, model.fovX(), model.fovY());
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}
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}
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}
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@@ -850,6 +850,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->comboBox_cameraImages_odomFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_gt, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_cameraImages_gtFormat, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_gt_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_maxPoseTimeDiff, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_path_imu, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_imu_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -2360,6 +2361,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(0);
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_ui->lineEdit_cameraImages_gt->setText("");
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_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(0);
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_ui->lineEdit_cameraImages_gt_transform->setText("0 0 0 0 0 0");
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_ui->doubleSpinBox_maxPoseTimeDiff->setValue(0.02);
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_ui->lineEdit_cameraImages_path_imu->setText("");
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_ui->lineEdit_cameraImages_imu_transform->setText("0 0 1 0 -1 0 1 0 0");
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@@ -2894,6 +2896,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->comboBox_cameraImages_odomFormat->setCurrentIndex(settings.value("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex()).toInt());
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_ui->lineEdit_cameraImages_gt->setText(settings.value("gt_path", _ui->lineEdit_cameraImages_gt->text()).toString());
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_ui->comboBox_cameraImages_gtFormat->setCurrentIndex(settings.value("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex()).toInt());
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_ui->lineEdit_cameraImages_gt_transform->setText(settings.value("gt_transform", _ui->lineEdit_cameraImages_gt_transform->text()).toString());
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_ui->doubleSpinBox_maxPoseTimeDiff->setValue(settings.value("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value()).toDouble());
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_ui->lineEdit_cameraImages_path_imu->setText(settings.value("imu_path", _ui->lineEdit_cameraImages_path_imu->text()).toString());
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@@ -3514,6 +3517,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.setValue("odom_format", _ui->comboBox_cameraImages_odomFormat->currentIndex());
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settings.setValue("gt_path", _ui->lineEdit_cameraImages_gt->text());
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settings.setValue("gt_format", _ui->comboBox_cameraImages_gtFormat->currentIndex());
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settings.setValue("gt_transform", _ui->lineEdit_cameraImages_gt_transform->text());
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settings.setValue("max_pose_time_diff", _ui->doubleSpinBox_maxPoseTimeDiff->value());
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settings.setValue("imu_path", _ui->lineEdit_cameraImages_path_imu->text());
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settings.setValue("imu_local_transform", _ui->lineEdit_cameraImages_imu_transform->text());
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@@ -6525,6 +6529,15 @@ Transform PreferencesDialog::getLaserLocalTransform() const
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}
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return t;
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}
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Transform PreferencesDialog::getGroundTruthLocalTransform() const
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{
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Transform t = Transform::fromString(_ui->lineEdit_cameraImages_gt_transform->text().replace("PI_2", QString::number(3.141592/2.0)).toStdString());
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if(t.isNull())
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{
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return Transform::getIdentity();
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}
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return t;
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}
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QString PreferencesDialog::getIMUPath() const
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{
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@@ -6891,7 +6904,7 @@ Camera * PreferencesDialog::createCamera(
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((CameraRGBDImages*)camera)->setMaxFrames(_ui->spinBox_cameraRGBDImages_maxFrames->value());
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((CameraRGBDImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
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((CameraRGBDImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
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((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
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((CameraRGBDImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex(), this->getGroundTruthLocalTransform());
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((CameraRGBDImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
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((CameraRGBDImages*)camera)->setScanPath(
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_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
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@@ -6937,7 +6950,7 @@ Camera * PreferencesDialog::createCamera(
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((CameraStereoImages*)camera)->setMaxFrames(_ui->spinBox_cameraStereoImages_maxFrames->value());
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((CameraStereoImages*)camera)->setBayerMode(_ui->comboBox_cameraImages_bayerMode->currentIndex()-1);
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((CameraStereoImages*)camera)->setOdometryPath(_ui->lineEdit_cameraImages_odom->text().toStdString(), _ui->comboBox_cameraImages_odomFormat->currentIndex());
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((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex());
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((CameraStereoImages*)camera)->setGroundTruthPath(_ui->lineEdit_cameraImages_gt->text().toStdString(), _ui->comboBox_cameraImages_gtFormat->currentIndex(), this->getGroundTruthLocalTransform());
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((CameraStereoImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
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((CameraStereoImages*)camera)->setScanPath(
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_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
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@@ -7137,7 +7150,8 @@ Camera * PreferencesDialog::createCamera(
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_ui->comboBox_cameraImages_odomFormat->currentIndex());
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((CameraImages*)camera)->setGroundTruthPath(
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_ui->lineEdit_cameraImages_gt->text().toStdString(),
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_ui->comboBox_cameraImages_gtFormat->currentIndex());
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_ui->comboBox_cameraImages_gtFormat->currentIndex(),
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this->getGroundTruthLocalTransform());
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((CameraImages*)camera)->setMaxPoseTimeDiff(_ui->doubleSpinBox_maxPoseTimeDiff->value());
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((CameraImages*)camera)->setScanPath(
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_ui->lineEdit_cameraImages_path_scans->text().isEmpty()?"":_ui->lineEdit_cameraImages_path_scans->text().append(QDir::separator()).toStdString(),
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+286
-260
@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<y>-2161</y>
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<width>684</width>
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<height>5110</height>
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<height>5201</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -95,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>24</number>
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<number>5</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
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@@ -7536,129 +7536,50 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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<item>
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<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
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<item row="6" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_odom">
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<item row="3" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
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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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<item row="11" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_maxPoseTimeDiff">
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<property name="suffix">
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<string> s</string>
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</property>
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="maximum">
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<double>9.990000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.020000000000000</double>
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</property>
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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="QCheckBox" name="checkBox_cameraImages_configForEachFrame">
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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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<item row="15" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_path_imu">
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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 row="0" column="2">
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<widget class="QLabel" name="label_265">
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<property name="text">
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<string>Bayer mode. For convenience, if the images are bayered.</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="16" column="2">
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<widget class="QLabel" name="label_465">
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<property name="text">
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<string>IMU Rate. To synchronize capture rate with IMU timestamps, set to 0. This can be set a little over the actual IMU rate to keep up with camera capture rate if images are dropped by 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="14" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_path_imu">
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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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<item row="15" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_imu_transform">
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<property name="toolTip">
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>EuRoC: /base_link to /imu = 0 0 1 0 -1 0 1 0 0</p></body></html></string>
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</property>
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<property name="text">
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<string>0 0 0 0 0 0</string>
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</property>
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</widget>
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</item>
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<item row="8" column="2">
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<widget class="QLabel" name="label_288">
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<property name="text">
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<string>Ground truth file. Select the correct format below.</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="12" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
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<property name="toolTip">
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0<br/>KITTI: /base_footprint to /scan = -0.27 0 1.75 0 0 0</p></body></html></string>
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</property>
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<property name="text">
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<string>0 0 0 0 0 0</string>
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</property>
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</widget>
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</item>
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<item row="13" column="2">
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<widget class="QLabel" name="label_292">
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<property name="text">
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<string>Maximum laser scan points.</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="6" column="2">
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<widget class="QLabel" name="label_348">
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<property name="text">
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<string>Odometry file. Select the correct format below.</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="15" column="2">
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<widget class="QLabel" name="label_464">
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<widget class="QLabel" name="label_463">
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<property name="text">
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<string>Local transform from /base_link to /imu_link. Mouse over the box to show formats.</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="6" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_odom">
|
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<property name="text">
|
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<string/>
|
||||
</property>
|
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</widget>
|
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</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_256">
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<property name="text">
|
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<string>Synchronize capture rate with timestamps.</string>
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<string>Path to file containing optional IMU data (*.csv [EuRoC format]). Mouse over the box to show formats.</string>
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</property>
|
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<property name="wordWrap">
|
||||
<bool>true</bool>
|
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@@ -7743,10 +7664,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
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</item>
|
||||
</widget>
|
||||
</item>
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<item row="4" column="2">
|
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<widget class="QLabel" name="label_251">
|
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<item row="17" column="2">
|
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<widget class="QLabel" name="label_465">
|
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<property name="text">
|
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<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
|
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<string>IMU Rate. To synchronize capture rate with IMU timestamps, set to 0. This can be set a little over the actual IMU rate to keep up with camera capture rate if images are dropped by odometry.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -7756,10 +7677,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QLabel" name="label_349">
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_256">
|
||||
<property name="text">
|
||||
<string>Odometry format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
|
||||
<string>Synchronize capture rate with timestamps.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -7769,51 +7690,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="2">
|
||||
<widget class="QLabel" name="label_443">
|
||||
<property name="text">
|
||||
<string>Max time difference between data and corresponding pose for format with stamps. If delay is over this threshold, the pose won't be set on data loaded. This is used when odometry and/or ground truth files are set.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_imu_rate">
|
||||
<property name="toolTip">
|
||||
<string>EuRoC: 200 Hz -> 250 Hz</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="2">
|
||||
<item row="13" column="2">
|
||||
<widget class="QLabel" name="label_294">
|
||||
<property name="text">
|
||||
<string>Local transform from /base_link to /laser_link. Mouse over the box to show formats.</string>
|
||||
@@ -7826,7 +7703,60 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="2">
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_348">
|
||||
<property name="text">
|
||||
<string>Odometry file. Select the correct format below.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_imu">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>cvs format (comma split): &quot;stamp_sec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p><p>EuRoC format: &quot;stamp_nanosec,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z&quot;</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="2">
|
||||
<widget class="QLabel" name="label_464">
|
||||
<property name="text">
|
||||
<string>Local transform from /base_link to /imu_link. Mouse over the box to show formats.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0<br/>KITTI: /base_footprint to /scan = -0.27 0 1.75 0 0 0</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0 0 0 0 0 0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="2">
|
||||
<widget class="QLabel" name="label_293">
|
||||
<property name="text">
|
||||
<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
|
||||
@@ -7839,6 +7769,141 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="2">
|
||||
<widget class="QLabel" name="label_292">
|
||||
<property name="text">
|
||||
<string>Maximum laser scan points.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_imu_rate">
|
||||
<property name="toolTip">
|
||||
<string>EuRoC: 200 Hz -> 250 Hz</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QComboBox" name="comboBox_cameraImages_bayerMode">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Disabled</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>BG</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>GB</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RG</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>GR</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="2">
|
||||
<widget class="QLabel" name="label_443">
|
||||
<property name="text">
|
||||
<string>Max time difference between data and corresponding pose for format with stamps. If delay is over this threshold, the pose won't be set on data loaded. This is used when odometry and/or ground truth files are set.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_255">
|
||||
<property name="text">
|
||||
<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png".</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_imu_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>EuRoC: /base_link to /imu = 0 0 1 0 -1 0 1 0 0</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0 0 0 0 0 0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_288">
|
||||
<property name="text">
|
||||
<string>Ground truth file. Select the correct format below.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_gt">
|
||||
<property name="text">
|
||||
@@ -7846,16 +7911,17 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_255">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
|
||||
<property name="text">
|
||||
<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png".</string>
|
||||
<string/>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_timestamps">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -7934,25 +8000,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxPoseTimeDiff">
|
||||
<property name="suffix">
|
||||
<string> s</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>4</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>9.990000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.020000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_605">
|
||||
<property name="text">
|
||||
@@ -7966,59 +8013,17 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_configForEachFrame">
|
||||
<item row="6" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_odom">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QComboBox" name="comboBox_cameraImages_bayerMode">
|
||||
<property name="sizeAdjustPolicy">
|
||||
<enum>QComboBox::AdjustToContents</enum>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Disabled</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>BG</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>GB</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RG</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>GR</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="2">
|
||||
<widget class="QLabel" name="label_463">
|
||||
<item row="7" column="2">
|
||||
<widget class="QLabel" name="label_349">
|
||||
<property name="text">
|
||||
<string>Path to file containing optional IMU data (*.csv [EuRoC format]).</string>
|
||||
<string>Odometry format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -8028,8 +8033,8 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_odom">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -8048,31 +8053,52 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_251">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_path_imu">
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_265">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
<string>Bayer mode. For convenience, if the images are bayered.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
|
||||
<item row="10" column="2">
|
||||
<widget class="QLabel" name="label_794">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<string>Local transform from /base_link to /gt_link. Mouse over the box to show formats. By default, we assume the ground truth matches the base frame, if the ground truth refers to another frame, set this to convert the poses in base frame.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_timestamps">
|
||||
<item row="10" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_gt_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
<string>0 0 0 0 0 0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user