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Fixed default odom gravity sigma value to -1. Preferences: set 720p by default for K4A driver

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matlabbe
2020-07-01 14:04:19 -04:00
parent 661a05b0da
commit 8fa216bd9d
3 changed files with 3 additions and 2 deletions
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1
guilib/src/MainWindow.cpp
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@@ -5215,6 +5215,7 @@ void MainWindow::startDetection()
int odomStrategy = Parameters::defaultOdomStrategy();
Parameters::parse(odomParameters, Parameters::kOdomStrategy(), odomStrategy);
double gravitySigma = _preferencesDialog->getOdomF2MGravitySigma();
UDEBUG("Odom gravitySigma=%f", gravitySigma);
if(gravitySigma >= 0.0)
{
uInsert(odomParameters, ParametersPair(Parameters::kOptimizerGravitySigma(), uNumber2Str(gravitySigma)));

2
guilib/src/PreferencesDialog.cpp
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@@ -1886,7 +1886,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->lineEdit_rs2_jsonFile->clear();
_ui->lineEdit_openniOniPath->clear();
_ui->lineEdit_openni2OniPath->clear();
_ui->comboBox_k4a_rgb_resolution->setCurrentIndex(1);
_ui->comboBox_k4a_rgb_resolution->setCurrentIndex(0);
_ui->comboBox_k4a_framerate->setCurrentIndex(2);
_ui->comboBox_k4a_depth_resolution->setCurrentIndex(2);
_ui->checkbox_k4a_irDepth->setChecked(false);

2
guilib/src/ui/preferencesDialog.ui
View File

@@ -13676,7 +13676,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
<double>-1.000000000000000</double>
</property>
</widget>
</item>