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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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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())
{