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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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1
guilib/src/PreferencesDialog.cpp
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@@ -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)
{