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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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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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guilib/src/MainWindow.cpp
+1 -1
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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);
}