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Added OpenVINS minimal support (tested with EuRoC dataset)

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matlabbe
2021-03-28 23:51:02 -04:00
parent a58ec494d1
commit 4c1e72d82e
18 changed files with 1762 additions and 1018 deletions
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6
guilib/src/PreferencesDialog.cpp
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@@ -192,6 +192,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_VINS
_ui->odom_strategy->setItemData(9, 0, Qt::UserRole - 1);
#endif
#ifndef RTABMAP_OPENVINS
_ui->odom_strategy->setItemData(10, 0, Qt::UserRole - 1);
#endif
#if CV_MAJOR_VERSION < 3
_ui->stereosgbm_mode->setItemData(2, 0, Qt::UserRole - 1);
@@ -6371,7 +6374,8 @@ void PreferencesDialog::testOdometry()
{
if(this->getOdomStrategy() != Odometry::kTypeOkvis &&
this->getOdomStrategy() != Odometry::kTypeMSCKF &&
this->getOdomStrategy() != Odometry::kTypeVINS)
this->getOdomStrategy() != Odometry::kTypeVINS &&
this->getOdomStrategy() != Odometry::kTypeOpenVINS)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);