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CameraRealSense2: updated how imu are published in inter mode and fixed some local transforms. GUI-VINS: features are shown in Odometry view.

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matlabbe
2019-10-13 14:48:11 -04:00
parent 9cb1e4bbc5
commit 1e298dcfa2
9 changed files with 124 additions and 83 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -413,7 +413,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO");
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion");
RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");

3
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -90,7 +90,8 @@ public:
const double & stamp,
Transform & pose,
unsigned int & poseConfidence,
IMU & imu) const;
IMU & imu,
int maxWaitTimeMs = 35) const;
#endif
protected:

2
corelib/include/rtabmap/core/odometry/OdometryMSCKF.h
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@@ -55,7 +55,7 @@ private:
MsckfVioNoROS * msckf_;
IMU lastImu_;
ParametersMap parameters_;
Transform flipXY_;
Transform fixPoseRotation_;
Transform previousPose_;
bool initGravity_;
#endif