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Fixed a realsense2 camera crash on start. Refactored VINS-Fusion to always use rtabmap's calibration model no matter what (improved usability). Preferences/IMU: fixed publish inter imu checkbox disappearing if no imu filter is selected.

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This commit is contained in:
matlabbe
2025-11-01 13:07:50 -07:00
parent b04f607828
commit a20e161a5b
5 changed files with 170 additions and 92 deletions
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guilib/src/PreferencesDialog.cpp
+1 -2
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@@ -5868,7 +5868,6 @@ void PreferencesDialog::updateSourceGrpVisibility()
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoMyntEye - kSrcStereo) || // MYNT EYE S
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZedOC - kSrcStereo) ||
(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoDepthAI - kSrcStereo));
_ui->frame_imu_filtering->setVisible(getIMUFilteringStrategy() > 0); // Not None
_ui->stackedWidget_imuFilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() > 0);
_ui->groupBox_madgwickfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 1);
_ui->groupBox_complementaryfilter->setVisible(_ui->comboBox_imuFilter_strategy->currentIndex() == 2);
@@ -6706,7 +6705,7 @@ Camera * PreferencesDialog::createCamera(
((CameraOrbbecSDK*)camera)->enableColorRectification(_ui->checkBox_orbbec_sdk_color_rectification->isChecked());
((CameraOrbbecSDK*)camera)->enableImu(_ui->checkBox_orbbec_sdk_imu->isChecked());
((CameraOrbbecSDK*)camera)->enableDepthMM(_ui->checkBox_orbbec_sdk_depth_mm->isChecked());
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?