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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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This commit is contained in:
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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6
guilib/src/MainWindow.cpp
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@@ -1341,7 +1341,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
else if(odom.info().type == (int)Odometry::kTypeF2F ||
odom.info().type == (int)Odometry::kTypeViso2 ||
odom.info().type == (int)Odometry::kTypeFovis ||
odom.info().type == (int)Odometry::kTypeMSCKF)
odom.info().type == (int)Odometry::kTypeMSCKF ||
odom.info().type == (int)Odometry::kTypeVINS)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(odom.info().newCorners, kpts, 7);
@@ -1389,7 +1390,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
if( odom.info().type == (int)Odometry::kTypeF2M ||
odom.info().type == (int)Odometry::kTypeORBSLAM2 ||
odom.info().type == (int)Odometry::kTypeMSCKF)
odom.info().type == (int)Odometry::kTypeMSCKF ||
odom.info().type == (int)Odometry::kTypeVINS)
{
if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
{

6
guilib/src/ui/preferencesDialog.ui
View File

@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>976</width>
<height>900</height>
<height>896</height>
</rect>
</property>
<property name="sizePolicy">
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-571</y>
<y>-1371</y>
<width>680</width>
<height>3083</height>
</rect>
@@ -6131,7 +6131,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item row="14" column="1">
<widget class="QSpinBox" name="spinBox_cameraImages_max_imu_rate">
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
<string>EuRoC: 200 Hz -&gt; 250 Hz</string>
</property>
<property name="maximum">
<number>99999999</number>