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add XVSDK VIO

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This commit is contained in:
Borong Yuan
2024-06-03 10:28:45 +08:00
parent fc9dcd6b3d
commit a327c9530c
4 changed files with 79 additions and 26 deletions
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guilib/src/PreferencesDialog.cpp
+12 -2
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@@ -425,6 +425,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
if (!CameraSeerSense::available())
{
_ui->comboBox_cameraRGBD->setItemData(kSrcSeerSense - kSrcRGBD, 0, Qt::UserRole - 1);
_ui->comboBox_odom_sensor->setItemData(3, 0, Qt::UserRole - 1);
}
_ui->openni2_exposure->setEnabled(CameraOpenNI2::exposureGainAvailable());
_ui->openni2_gain->setEnabled(CameraOpenNI2::exposureGainAvailable());
@@ -6240,6 +6241,11 @@ PreferencesDialog::Src PreferencesDialog::getOdomSourceDriver() const
//Zed SDK
return kSrcStereoZed;
}
else if(_ui->comboBox_odom_sensor->currentIndex() == 3)
{
//XVisio SDK
return kSrcSeerSense;
}
else if(_ui->comboBox_odom_sensor->currentIndex() != 0)
{
UERROR("Not implemented!");
@@ -6408,7 +6414,7 @@ Camera * PreferencesDialog::createCamera(
bool odomOnly,
bool odomSensorExtrinsicsCalib)
{
if(odomOnly && !(driver == kSrcStereoRealSense2 || driver == kSrcStereoZed))
if(odomOnly && !(driver == kSrcStereoRealSense2 || driver == kSrcStereoZed || driver == kSrcSeerSense))
{
QMessageBox::warning(this, tr("Odometry Sensor"),
tr("Driver %1 cannot support odometry only mode.").arg(driver), QMessageBox::Ok);
@@ -6807,9 +6813,13 @@ Camera * PreferencesDialog::createCamera(
{
UDEBUG("SeerSense");
camera = new CameraSeerSense(
getOdomSourceDriver() == kSrcSeerSense,
this->getGeneralInputRate(),
this->getSourceLocalTransform());
((CameraSeerSense*)camera)->setIMU(true, _ui->checkbox_publishInterIMU->isChecked());
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
}
else if(driver == kSrcUsbDevice)
{