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Supplement and Adjust OpenVINS Parameters #1145

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merged 10 commits into from
Oct 21, 2023
+741 −121
Merged

Supplement and Adjust OpenVINS Parameters #1145

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e65022c
set the PrintLevel of OpenVINS to be equivalent to that of ULogger
borongyuan Oct 10, 2023
05d6bfa
use global FAST settings
borongyuan Oct 10, 2023
d27eb3e
add online calibration params
borongyuan Oct 11, 2023
b635c47
add dynamic initialization params
borongyuan Oct 11, 2023
30c521b
add necessary feature initializer options
borongyuan Oct 11, 2023
81e7425
fix segfault of OdomImageDecimation
borongyuan Oct 14, 2023
5a03ad9
add mask settings
borongyuan Oct 20, 2023
8d7a7cf
use depth as mask in OpenVINS
borongyuan Oct 20, 2023
d0f82d9
set twist covariance
borongyuan Oct 21, 2023
a0d67bc
restore default values of VisMinDepth and VisMaxDepth
borongyuan Oct 21, 2023
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104 changes: 62 additions & 42 deletions corelib/include/rtabmap/core/Parameters.h
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1 change: 1 addition & 0 deletions corelib/include/rtabmap/core/odometry/OdometryOpenVINS.h
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Expand Up @@ -57,6 +57,7 @@ class RTABMAP_CORE_EXPORT OdometryOpenVINS : public Odometry
bool initGravity_;
Transform previousPoseInv_;
Transform imuLocalTransformInv_;
Eigen::Matrix<double, 6, 6> Phi_;
#endif
};

Expand Down
8 changes: 4 additions & 4 deletions corelib/src/Odometry.cpp
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Expand Up @@ -675,12 +675,12 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UASSERT(info->newCorners.size() == info->refCorners.size() || info->refCorners.empty());
for(unsigned int i=0; i<info->newCorners.size(); ++i)
{
info->refCorners[i].x *= _imageDecimation;
info->refCorners[i].y *= _imageDecimation;
info->newCorners[i].x *= _imageDecimation;
info->newCorners[i].y *= _imageDecimation;
if(!info->refCorners.empty())
{
info->newCorners[i].x *= _imageDecimation;
info->newCorners[i].y *= _imageDecimation;
info->refCorners[i].x *= _imageDecimation;
info->refCorners[i].y *= _imageDecimation;
}
}
for(std::multimap<int, cv::KeyPoint>::iterator iter=info->words.begin(); iter!=info->words.end(); ++iter)
Expand Down
107 changes: 90 additions & 17 deletions corelib/src/odometry/OdometryOpenVINS.cpp
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Expand Up @@ -28,12 +28,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/odometry/OdometryOpenVINS.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/utilite/UFile.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include <opencv2/core/eigen.hpp>
#include <opencv2/imgproc/types_c.h>

#ifdef RTABMAP_OPENVINS
#include "core/VioManager.h"
#include "state/Propagator.h"
#include "state/State.h"
#include "state/StateHelper.h"
#endif
Expand All @@ -49,20 +52,35 @@ OdometryOpenVINS::OdometryOpenVINS(const ParametersMap & parameters) :
#endif
{
#ifdef RTABMAP_OPENVINS
ov_core::Printer::setPrintLevel("WARNING");
ov_core::Printer::setPrintLevel(ov_core::Printer::PrintLevel(ULogger::level()+1));
int enum_index;
std::string left_mask_path, right_mask_path;
params_ = std::make_unique<ov_msckf::VioManagerOptions>();
Parameters::parse(parameters, Parameters::kOdomOpenVINSUseStereo(), params_->use_stereo);
Parameters::parse(parameters, Parameters::kOdomOpenVINSUseKLT(), params_->use_klt);
Parameters::parse(parameters, Parameters::kOdomOpenVINSNumPts(), params_->num_pts);
Parameters::parse(parameters, Parameters::kOdomOpenVINSFastThreshold(), params_->fast_threshold);
Parameters::parse(parameters, Parameters::kOdomOpenVINSGridX(), params_->grid_x);
Parameters::parse(parameters, Parameters::kOdomOpenVINSGridY(), params_->grid_y);
Parameters::parse(parameters, Parameters::kFASTThreshold(), params_->fast_threshold);
Parameters::parse(parameters, Parameters::kVisGridCols(), params_->grid_x);
Parameters::parse(parameters, Parameters::kVisGridRows(), params_->grid_y);
Parameters::parse(parameters, Parameters::kOdomOpenVINSMinPxDist(), params_->min_px_dist);
Parameters::parse(parameters, Parameters::kOdomOpenVINSKNNRatio(), params_->knn_ratio);
Parameters::parse(parameters, Parameters::kVisCorNNDR(), params_->knn_ratio);
Parameters::parse(parameters, Parameters::kOdomOpenVINSFiTriangulate1d(), params_->featinit_options.triangulate_1d);
Parameters::parse(parameters, Parameters::kOdomOpenVINSFiRefineFeatures(), params_->featinit_options.refine_features);
Parameters::parse(parameters, Parameters::kOdomOpenVINSFiMaxRuns(), params_->featinit_options.max_runs);
Parameters::parse(parameters, Parameters::kVisMinDepth(), params_->featinit_options.min_dist);
Parameters::parse(parameters, Parameters::kVisMaxDepth(), params_->featinit_options.max_dist);
if(params_->featinit_options.max_dist == 0)
params_->featinit_options.max_dist = std::numeric_limits<double>::infinity();
Parameters::parse(parameters, Parameters::kOdomOpenVINSFiMaxBaseline(), params_->featinit_options.max_baseline);
Parameters::parse(parameters, Parameters::kOdomOpenVINSFiMaxCondNumber(), params_->featinit_options.max_cond_number);
Parameters::parse(parameters, Parameters::kOdomOpenVINSUseFEJ(), params_->state_options.do_fej);
Parameters::parse(parameters, Parameters::kOdomOpenVINSIntegration(), enum_index);
params_->state_options.integration_method = ov_msckf::StateOptions::IntegrationMethod(enum_index);
Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibCamExtrinsics(), params_->state_options.do_calib_camera_pose);
Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibCamIntrinsics(), params_->state_options.do_calib_camera_intrinsics);
Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibCamTimeoffset(), params_->state_options.do_calib_camera_timeoffset);
Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibIMUIntrinsics(), params_->state_options.do_calib_imu_intrinsics);
Parameters::parse(parameters, Parameters::kOdomOpenVINSCalibIMUGSensitivity(), params_->state_options.do_calib_imu_g_sensitivity);
Parameters::parse(parameters, Parameters::kOdomOpenVINSMaxClones(), params_->state_options.max_clone_size);
Parameters::parse(parameters, Parameters::kOdomOpenVINSMaxSLAM(), params_->state_options.max_slam_features);
Parameters::parse(parameters, Parameters::kOdomOpenVINSMaxSLAMInUpdate(), params_->state_options.max_slam_in_update);
Expand All @@ -73,10 +91,39 @@ OdometryOpenVINS::OdometryOpenVINS(const ParametersMap & parameters) :
params_->state_options.feat_rep_slam = ov_type::LandmarkRepresentation::Representation(enum_index);
Parameters::parse(parameters, Parameters::kOdomOpenVINSDtSLAMDelay(), params_->dt_slam_delay);
Parameters::parse(parameters, Parameters::kOdomOpenVINSGravityMag(), params_->gravity_mag);
Parameters::parse(parameters, Parameters::kVisDepthAsMask(), params_->use_mask);
Parameters::parse(parameters, Parameters::kOdomOpenVINSLeftMaskPath(), left_mask_path);
if(!left_mask_path.empty())
{
if(!UFile::exists(left_mask_path))
UWARN("OpenVINS: invalid left mask path: %s", left_mask_path.c_str());
else
params_->masks.emplace(0, cv::imread(left_mask_path, cv::IMREAD_GRAYSCALE));
}
Parameters::parse(parameters, Parameters::kOdomOpenVINSRightMaskPath(), right_mask_path);
if(!right_mask_path.empty())
{
if(!UFile::exists(right_mask_path))
UWARN("OpenVINS: invalid right mask path: %s", right_mask_path.c_str());
else
params_->masks.emplace(1, cv::imread(right_mask_path, cv::IMREAD_GRAYSCALE));
}
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitWindowTime(), params_->init_options.init_window_time);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitIMUThresh(), params_->init_options.init_imu_thresh);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitMaxDisparity(), params_->init_options.init_max_disparity);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitMaxFeatures(), params_->init_options.init_max_features);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynUse(), params_->init_options.init_dyn_use);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMLEOptCalib(), params_->init_options.init_dyn_mle_opt_calib);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMLEMaxIter(), params_->init_options.init_dyn_mle_max_iter);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMLEMaxTime(), params_->init_options.init_dyn_mle_max_time);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMLEMaxThreads(), params_->init_options.init_dyn_mle_max_threads);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynNumPose(), params_->init_options.init_dyn_num_pose);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMinDeg(), params_->init_options.init_dyn_min_deg);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynInflationOri(), params_->init_options.init_dyn_inflation_orientation);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynInflationVel(), params_->init_options.init_dyn_inflation_velocity);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynInflationBg(), params_->init_options.init_dyn_inflation_bias_gyro);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynInflationBa(), params_->init_options.init_dyn_inflation_bias_accel);
Parameters::parse(parameters, Parameters::kOdomOpenVINSInitDynMinRecCond(), params_->init_options.init_dyn_min_rec_cond);
Parameters::parse(parameters, Parameters::kOdomOpenVINSTryZUPT(), params_->try_zupt);
Parameters::parse(parameters, Parameters::kOdomOpenVINSZUPTChi2Multiplier(), params_->zupt_options.chi2_multipler);
Parameters::parse(parameters, Parameters::kOdomOpenVINSZUPTMaxVelodicy(), params_->zupt_max_velocity);
Expand Down Expand Up @@ -134,7 +181,12 @@ Transform OdometryOpenVINS::computeTransform(
if(!vioManager_)
{
if(!data.imu().empty())
{
imuLocalTransformInv_ = data.imu().localTransform().inverse();
Phi_.setZero();
Phi_.block(0,0,3,3) = data.imu().localTransform().toEigen4d().block(0,0,3,3);
Phi_.block(3,3,3,3) = data.imu().localTransform().toEigen4d().block(0,0,3,3);
}

if(!data.imageRaw().empty() && !imuLocalTransformInv_.isNull())
{
Expand Down Expand Up @@ -280,6 +332,12 @@ Transform OdometryOpenVINS::computeTransform(

if(!data.imageRaw().empty())
{
bool covFilled = false;
Eigen::Matrix<double, 13, 1> state_plus = Eigen::Matrix<double, 13, 1>::Zero();
Eigen::Matrix<double, 12, 12> cov_plus = Eigen::Matrix<double, 12, 12>::Zero();
if(vioManager_->initialized())
covFilled = vioManager_->get_propagator()->fast_state_propagate(vioManager_->get_state(), data.stamp(), state_plus, cov_plus);

cv::Mat image;
if(data.imageRaw().type() == CV_8UC3)
cv::cvtColor(data.imageRaw(), image, CV_BGR2GRAY);
Expand All @@ -291,7 +349,25 @@ Transform OdometryOpenVINS::computeTransform(
message.timestamp = data.stamp();
message.sensor_ids.emplace_back(0);
message.images.emplace_back(image);
message.masks.emplace_back(cv::Mat::zeros(image.size(), CV_8UC1));
if(params_->masks.find(0) != params_->masks.end())
{
message.masks.emplace_back(params_->masks[0]);
}
else if(!data.depthRaw().empty() && params_->use_mask)
{
cv::Mat mask;
if(data.depthRaw().type() == CV_32FC1)
cv::inRange(data.depthRaw(), params_->featinit_options.min_dist,
std::isinf(params_->featinit_options.max_dist)?std::numeric_limits<float>::max():params_->featinit_options.max_dist, mask);
else if(data.depthRaw().type() == CV_16UC1)
cv::inRange(data.depthRaw(), params_->featinit_options.min_dist*1000,
std::isinf(params_->featinit_options.max_dist)?std::numeric_limits<uint16_t>::max():params_->featinit_options.max_dist*1000, mask);
message.masks.emplace_back(255-mask);
}
else
{
message.masks.emplace_back(cv::Mat::zeros(image.size(), CV_8UC1));
}
if(!data.rightRaw().empty())
{
if(data.rightRaw().type() == CV_8UC3)
Expand All @@ -302,7 +378,10 @@ Transform OdometryOpenVINS::computeTransform(
UFATAL("Not supported color type!");
message.sensor_ids.emplace_back(1);
message.images.emplace_back(image);
message.masks.emplace_back(cv::Mat::zeros(image.size(), CV_8UC1));
if(params_->masks.find(1) != params_->masks.end())
message.masks.emplace_back(params_->masks[1]);
else
message.masks.emplace_back(cv::Mat::zeros(image.size(), CV_8UC1));
}
vioManager_->feed_measurement_camera(message);

Expand Down Expand Up @@ -342,17 +421,11 @@ Transform OdometryOpenVINS::computeTransform(
info->type = this->getType();
info->localMapSize = feat_posinG.size();
info->features = features_SLAM.size() + good_features_MSCKF.size();
info->reg.covariance = cv::Mat(6,6,CV_64FC1);
std::vector<std::shared_ptr<ov_type::Type>> statevars;
statevars.emplace_back(state->_imu->pose()->p());
statevars.emplace_back(state->_imu->pose()->q());
Eigen::Matrix<double,6,6> covariance_posori = ov_msckf::StateHelper::get_marginal_covariance(state, statevars);
for (int r = 0; r < 6; r++)
info->reg.covariance = cv::Mat::eye(6, 6, CV_64FC1);
if(covFilled)
{
for (int c = 0; c < 6; c++)
{
((double *)info->reg.covariance.data)[6*r+c] = covariance_posori(r,c);
}
Eigen::Matrix<double, 6, 6> covariance = Phi_ * cov_plus.block(6,6,6,6) * Phi_.transpose();
cv::eigen2cv(covariance, info->reg.covariance);
}

if(this->isInfoDataFilled())
Expand Down
2 changes: 2 additions & 0 deletions guilib/include/rtabmap/gui/PreferencesDialog.h
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Expand Up @@ -349,6 +349,8 @@ private Q_SLOTS:
void changeOdometryORBSLAMVocabulary();
void changeOdometryOKVISConfigPath();
void changeOdometryVINSConfigPath();
void changeOdometryOpenVINSLeftMask();
void changeOdometryOpenVINSRightMask();
void changeIcpPMConfigPath();
void changeSuperPointModelPath();
void changePyMatcherPath();
Expand Down
64 changes: 60 additions & 4 deletions guilib/src/PreferencesDialog.cpp
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Expand Up @@ -1437,14 +1437,20 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->checkBox_OdomOpenVINSUseStereo->setObjectName(Parameters::kOdomOpenVINSUseStereo().c_str());
_ui->checkBox_OdomOpenVINSUseKLT->setObjectName(Parameters::kOdomOpenVINSUseKLT().c_str());
_ui->spinBox_OdomOpenVINSNumPts->setObjectName(Parameters::kOdomOpenVINSNumPts().c_str());
_ui->spinBox_OdomOpenVINSFastThreshold->setObjectName(Parameters::kOdomOpenVINSFastThreshold().c_str());
_ui->spinBox_OdomOpenVINSGridX->setObjectName(Parameters::kOdomOpenVINSGridX().c_str());
_ui->spinBox_OdomOpenVINSGridY->setObjectName(Parameters::kOdomOpenVINSGridY().c_str());
_ui->spinBox_OdomOpenVINSMinPxDist->setObjectName(Parameters::kOdomOpenVINSMinPxDist().c_str());
_ui->doubleSpinBox_OdomOpenVINSKNNRatio->setObjectName(Parameters::kOdomOpenVINSKNNRatio().c_str());
_ui->checkBox_OdomOpenVINSFiTriangulate1d->setObjectName(Parameters::kOdomOpenVINSFiTriangulate1d().c_str());
_ui->checkBox_OdomOpenVINSFiRefineFeatures->setObjectName(Parameters::kOdomOpenVINSFiRefineFeatures().c_str());
_ui->spinBox_OdomOpenVINSFiMaxRuns->setObjectName(Parameters::kOdomOpenVINSFiMaxRuns().c_str());
_ui->doubleSpinBox_OdomOpenVINSFiMaxBaseline->setObjectName(Parameters::kOdomOpenVINSFiMaxBaseline().c_str());
_ui->doubleSpinBox_OdomOpenVINSFiMaxCondNumber->setObjectName(Parameters::kOdomOpenVINSFiMaxCondNumber().c_str());

_ui->checkBox_OdomOpenVINSUseFEJ->setObjectName(Parameters::kOdomOpenVINSUseFEJ().c_str());
_ui->comboBox_OdomOpenVINSIntegration->setObjectName(Parameters::kOdomOpenVINSIntegration().c_str());
_ui->checkBox_OdomOpenVINSCalibCamExtrinsics->setObjectName(Parameters::kOdomOpenVINSCalibCamExtrinsics().c_str());
_ui->checkBox_OdomOpenVINSCalibCamIntrinsics->setObjectName(Parameters::kOdomOpenVINSCalibCamIntrinsics().c_str());
_ui->checkBox_OdomOpenVINSCalibCamTimeoffset->setObjectName(Parameters::kOdomOpenVINSCalibCamTimeoffset().c_str());
_ui->checkBox_OdomOpenVINSCalibIMUIntrinsics->setObjectName(Parameters::kOdomOpenVINSCalibIMUIntrinsics().c_str());
_ui->checkBox_OdomOpenVINSCalibIMUGSensitivity->setObjectName(Parameters::kOdomOpenVINSCalibIMUGSensitivity().c_str());
_ui->spinBox_OdomOpenVINSMaxClones->setObjectName(Parameters::kOdomOpenVINSMaxClones().c_str());
_ui->spinBox_OdomOpenVINSMaxSLAM->setObjectName(Parameters::kOdomOpenVINSMaxSLAM().c_str());
_ui->spinBox_OdomOpenVINSMaxSLAMInUpdate->setObjectName(Parameters::kOdomOpenVINSMaxSLAMInUpdate().c_str());
Expand All @@ -1453,11 +1459,27 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->comboBox_OdomOpenVINSFeatRepSLAM->setObjectName(Parameters::kOdomOpenVINSFeatRepSLAM().c_str());
_ui->doubleSpinBox_OdomOpenVINSDtSLAMDelay->setObjectName(Parameters::kOdomOpenVINSDtSLAMDelay().c_str());
_ui->doubleSpinBox_OdomOpenVINSGravityMag->setObjectName(Parameters::kOdomOpenVINSGravityMag().c_str());
_ui->lineEdit_OdomOpenVINSLeftMaskPath->setObjectName(Parameters::kOdomOpenVINSLeftMaskPath().c_str());
connect(_ui->toolButton_OdomOpenVINSLeftMaskPath, SIGNAL(clicked()), this, SLOT(changeOdometryOpenVINSLeftMask()));
_ui->lineEdit_OdomOpenVINSRightMaskPath->setObjectName(Parameters::kOdomOpenVINSRightMaskPath().c_str());
connect(_ui->toolButton_OdomOpenVINSRightMaskPath, SIGNAL(clicked()), this, SLOT(changeOdometryOpenVINSRightMask()));

_ui->doubleSpinBox_OdomOpenVINSInitWindowTime->setObjectName(Parameters::kOdomOpenVINSInitWindowTime().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitIMUThresh->setObjectName(Parameters::kOdomOpenVINSInitIMUThresh().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitMaxDisparity->setObjectName(Parameters::kOdomOpenVINSInitMaxDisparity().c_str());
_ui->spinBox_OdomOpenVINSInitMaxFeatures->setObjectName(Parameters::kOdomOpenVINSInitMaxFeatures().c_str());
_ui->checkBox_OdomOpenVINSInitDynUse->setObjectName(Parameters::kOdomOpenVINSInitDynUse().c_str());
_ui->checkBox_OdomOpenVINSInitDynMLEOptCalib->setObjectName(Parameters::kOdomOpenVINSInitDynMLEOptCalib().c_str());
_ui->spinBox_OdomOpenVINSInitDynMLEMaxIter->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxIter().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitDynMLEMaxTime->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxTime().c_str());
_ui->spinBox_OdomOpenVINSInitDynMLEMaxThreads->setObjectName(Parameters::kOdomOpenVINSInitDynMLEMaxThreads().c_str());
_ui->spinBox_OdomOpenVINSInitDynNumPose->setObjectName(Parameters::kOdomOpenVINSInitDynNumPose().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitDynMinDeg->setObjectName(Parameters::kOdomOpenVINSInitDynMinDeg().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitDynInflationOri->setObjectName(Parameters::kOdomOpenVINSInitDynInflationOri().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitDynInflationVel->setObjectName(Parameters::kOdomOpenVINSInitDynInflationVel().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitDynInflationBg->setObjectName(Parameters::kOdomOpenVINSInitDynInflationBg().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitDynInflationBa->setObjectName(Parameters::kOdomOpenVINSInitDynInflationBa().c_str());
_ui->doubleSpinBox_OdomOpenVINSInitDynMinRecCond->setObjectName(Parameters::kOdomOpenVINSInitDynMinRecCond().c_str());

_ui->checkBox_OdomOpenVINSTryZUPT->setObjectName(Parameters::kOdomOpenVINSTryZUPT().c_str());
_ui->doubleSpinBox_OdomOpenVINSZUPTChi2Multiplier->setObjectName(Parameters::kOdomOpenVINSZUPTChi2Multiplier().c_str());
Expand Down Expand Up @@ -5194,6 +5216,40 @@ void PreferencesDialog::changeOdometryVINSConfigPath()
}
}

void PreferencesDialog::changeOdometryOpenVINSLeftMask()
{
QString path;
if(_ui->lineEdit_OdomOpenVINSLeftMaskPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select Left Mask"), this->getWorkingDirectory(), tr("Image mask (*.jpg *.png)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select Left Mask"), _ui->lineEdit_OdomOpenVINSLeftMaskPath->text(), tr("Image mask (*.jpg *.png)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_OdomOpenVINSLeftMaskPath->setText(path);
}
}

void PreferencesDialog::changeOdometryOpenVINSRightMask()
{
QString path;
if(_ui->lineEdit_OdomOpenVINSRightMaskPath->text().isEmpty())
{
path = QFileDialog::getOpenFileName(this, tr("Select Right Mask"), this->getWorkingDirectory(), tr("Image mask (*.jpg *.png)"));
}
else
{
path = QFileDialog::getOpenFileName(this, tr("Select Right Mask"), _ui->lineEdit_OdomOpenVINSRightMaskPath->text(), tr("Image mask (*.jpg *.png)"));
}
if(!path.isEmpty())
{
_ui->lineEdit_OdomOpenVINSRightMaskPath->setText(path);
}
}

void PreferencesDialog::changeIcpPMConfigPath()
{
QString path;
Expand Down
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