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Handling intial odometry pose in all odometry approaches. For VIO approaches, gravity initialization is handled too. (#298)

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matlabbe
2018-07-19 14:10:36 -04:00
parent 9ae47b79f9
commit 173bd49a26
12 changed files with 124 additions and 42 deletions
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4
guilib/src/MainWindow.cpp
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@@ -1371,7 +1371,9 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
_ui->imageView_odometry->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
}
if(odom.info().type == (int)Odometry::kTypeF2M || odom.info().type == (int)Odometry::kTypeORBSLAM2)
if( odom.info().type == (int)Odometry::kTypeF2M ||
odom.info().type == (int)Odometry::kTypeORBSLAM2 ||
odom.info().type == (int)Odometry::kTypeMSCKF)
{
if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
{

4
guilib/src/OdometryViewer.cpp
View File

@@ -437,7 +437,9 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
imageView_->setImageDepth(uCvMat2QImage(odom.data().depthOrRightRaw()));
}
if(odom.info().type == Odometry::kTypeF2M || odom.info().type == (int)Odometry::kTypeORBSLAM2)
if( odom.info().type == Odometry::kTypeF2M ||
odom.info().type == (int)Odometry::kTypeORBSLAM2 ||
odom.info().type == (int)Odometry::kTypeMSCKF)
{
if(imageView_->isFeaturesShown())
{