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

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matlabbe
2019-10-13 17:40:09 -04:00
parent 1e298dcfa2
commit 981ac69c2c
5 changed files with 207 additions and 99 deletions
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7
guilib/src/MainWindow.cpp
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@@ -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();