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Bump version 0.20.22. Refactored RtabmapThread commands handling. MainWindow/RtabmapThread/Statistics/UVariant: added new option to republish missing data on GUI side. MainWindow: fixed 1 sec lag when waypoints are used. Parameters: added Rtabmap/MaxRepublished (moved from rtabmap_ros). OccupancyGrid: fixed ground cells ignored if there are empty cells, also don't add pose in addedNodes if corresponding node was not in cache.

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This commit is contained in:
matlabbe
2022-10-28 12:25:48 -07:00
parent 8e30c1c812
commit 1297714271
18 changed files with 1021 additions and 610 deletions
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6
corelib/src/camera/CameraDepthAI.cpp
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@@ -261,12 +261,12 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
UINFO("IMU disabled");
}
leftQueue_ = device_->getOutputQueue("rectified_left", 8, false);
rightOrDepthQueue_ = device_->getOutputQueue(outputDepth_?"depth":"rectified_right", 8, false);
if(imuPublished_)
{
imuQueue_ = device_->getOutputQueue("imu", 50, false);
}
leftQueue_ = device_->getOutputQueue("rectified_left", 1, false);
rightOrDepthQueue_ = device_->getOutputQueue(outputDepth_?"depth":"rectified_right", 1, false);
uSleep(2000); // avoid bad frames on start
@@ -333,7 +333,6 @@ SensorData CameraDepthAI::captureImage(CameraInfo * info)
}
//get imu
int added= 0;
double stampStart = UTimer::now();
while(imuPublished_ && imuQueue_.get())
{
@@ -360,7 +359,6 @@ SensorData CameraDepthAI::captureImage(CameraInfo * info)
{
gyroBuffer_.erase(gyroBuffer_.begin());
}
++added;
}
if(accStamp >= stamp && gyroStamp >= stamp)
{