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Working MSCKF

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matlabbe
2018-07-18 16:15:41 -04:00
parent 15e09cd0a8
commit 9ae47b79f9
16 changed files with 1077 additions and 847 deletions
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3
guilib/src/PreferencesDialog.cpp
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@@ -1121,6 +1121,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->OdomMSCKFPatchSize->setObjectName(Parameters::kOdomMSCKFPatchSize().c_str());
_ui->OdomMSCKFFastThreshold->setObjectName(Parameters::kOdomMSCKFFastThreshold().c_str());
_ui->OdomMSCKFMaxIteration->setObjectName(Parameters::kOdomMSCKFMaxIteration().c_str());
_ui->OdomMSCKFMaxCamStateSize->setObjectName(Parameters::kOdomMSCKFMaxCamStateSize().c_str());
_ui->OdomMSCKFTrackPrecision->setObjectName(Parameters::kOdomMSCKFTrackPrecision().c_str());
_ui->OdomMSCKFRansacThreshold->setObjectName(Parameters::kOdomMSCKFRansacThreshold().c_str());
_ui->OdomMSCKFStereoThreshold->setObjectName(Parameters::kOdomMSCKFStereoThreshold().c_str());
@@ -5454,7 +5455,7 @@ void PreferencesDialog::testOdometry()
this->getSourceDriver() == kSrcImages) &&
!_ui->lineEdit_cameraImages_path_imu->text().isEmpty())
{
if(this->getOdomStrategy() != Odometry::kTypeOkvis)
if(this->getOdomStrategy() != Odometry::kTypeOkvis && this->getOdomStrategy() != Odometry::kTypeMSCKF)
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support IMU, ignoring IMU..."), QMessageBox::Ok);