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CameraRealSense2: fixed wrong IR image index. DBReader: fixed imu not published. OdometryF2M: use IMU roll/pitch values when IMU is used (reducing variance on those angles before BA).

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This commit is contained in:
matlabbe
2019-09-13 21:45:13 -04:00
parent bdc8d839ff
commit 350d3cd85f
13 changed files with 182 additions and 99 deletions
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9
guilib/src/DatabaseViewer.cpp
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@@ -3946,14 +3946,17 @@ void DatabaseViewer::update(int value,
{
labelVelocity->setText(QString("vx=%1 vy=%2 vz=%3 vroll=%4 vpitch=%5 vyaw=%6").arg(v[0]).arg(v[1]).arg(v[2]).arg(v[3]).arg(v[4]).arg(v[5]));
}
std::multimap<int, Link>::const_iterator imuIter = graph::findLink(links_, id, id, false, Link::kGravity);
if(imuIter != links_.end())
std::multimap<int, Link> gravityLink;
dbDriver_->loadLinks(id, gravityLink, Link::kGravity);
if(!gravityLink.empty())
{
float roll,pitch,yaw;
imuIter->second.transform().getEulerAngles(roll, pitch, yaw);
gravityLink.begin()->second.transform().getEulerAngles(roll, pitch, yaw);
Eigen::Vector3d v = Transform(0,0,0,roll,pitch,0).toEigen3d() * -Eigen::Vector3d::UnitZ();
labelGravity->setText(QString("x=%1 y=%2 z=%3").arg(v[0]).arg(v[1]).arg(v[2]));
}
if(gps.stamp()>0.0)
{
labelGps->setText(QString("stamp=%1 longitude=%2 latitude=%3 altitude=%4m error=%5m bearing=%6deg").arg(QString::number(gps.stamp(), 'f')).arg(gps.longitude()).arg(gps.latitude()).arg(gps.altitude()).arg(gps.error()).arg(gps.bearing()));

2
guilib/src/MainWindow.cpp
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@@ -4981,7 +4981,7 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceScanNormalsK(),
_preferencesDialog->getSourceScanNormalsRadius(),
_preferencesDialog->isSourceScanForceGroundNormalsUp());
if(_preferencesDialog->getIMUFilteringStrategy()>0)
if(_preferencesDialog->getIMUFilteringStrategy()>0 && dynamic_cast<DBReader*>(camera) == 0)
{
_camera->enableIMUFiltering(_preferencesDialog->getIMUFilteringStrategy()-1, parameters);
}

4
guilib/src/PreferencesDialog.cpp
View File

@@ -5909,7 +5909,7 @@ void PreferencesDialog::testOdometry()
_ui->spinBox_source_scanNormalsK->value(),
_ui->doubleSpinBox_source_scanNormalsRadius->value(),
_ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0)
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0 && dynamic_cast<DBReader*>(camera) == 0)
{
cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters());
}
@@ -5980,7 +5980,7 @@ void PreferencesDialog::testCamera()
_ui->spinBox_source_scanNormalsK->value(),
_ui->doubleSpinBox_source_scanNormalsRadius->value(),
_ui->checkBox_source_scanForceGroundNormalsUp->isChecked());
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0)
if(_ui->comboBox_imuFilter_strategy->currentIndex()>0 && dynamic_cast<DBReader*>(camera) == 0)
{
cameraThread.enableIMUFiltering(_ui->comboBox_imuFilter_strategy->currentIndex()-1, this->getAllParameters());
}