i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Zed-mini: added imu thread to publish async imu events at 200 Hz (to support VINS odometry).

Browse Source
This commit is contained in:
matlabbe
2019-10-13 17:40:09 -04:00
parent 1e298dcfa2
commit 981ac69c2c
5 changed files with 207 additions and 99 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
guilib/src/MainWindow.cpp
View File

@@ -804,7 +804,12 @@ void MainWindow::closeEvent(QCloseEvent* event)
bool MainWindow::handleEvent(UEvent* anEvent)
{
if(anEvent->getClassName().compare("RtabmapEvent") == 0)
if(anEvent->getClassName().compare("IMUEvent") == 0)
{
// IMU events are published at high frequency, exit now
return false;
}
else if(anEvent->getClassName().compare("RtabmapEvent") == 0)
{
RtabmapEvent * rtabmapEvent = (RtabmapEvent*)anEvent;
Statistics stats = rtabmapEvent->getStats();

1
guilib/src/PreferencesDialog.cpp
View File

@@ -5594,6 +5594,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
_ui->checkbox_stereoZed_selfCalibration->isChecked(),
_ui->loopClosure_bowForce2D->isChecked());
}
((CameraStereoZed*)camera)->publishInterIMU(_ui->checkbox_publishInterIMU->isChecked());
}
else if(driver == kSrcUsbDevice)
{