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MainWindow: Odometry visualization not updated if msgs are received faster than they can be visualized. ZED: self-calibration set to true by default (should be true for ZED-M vio)

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This commit is contained in:
matlabbe
2018-06-14 17:25:35 -04:00
parent f638add755
commit c6d893bc98
4 changed files with 8 additions and 13 deletions
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4
corelib/include/rtabmap/core/CameraStereo.h
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@@ -123,7 +123,7 @@ public:
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = false);
bool selfCalibration = true);
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
@@ -132,7 +132,7 @@ public:
bool computeOdometry = false,
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity(),
bool selfCalibration = false);
bool selfCalibration = true);
virtual ~CameraStereoZed();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

7
corelib/src/CameraStereo.cpp
View File

@@ -1000,16 +1000,17 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
{
UTimer timer;
bool res = zed_->grab(rparam);
while (src_ == CameraVideo::kUsbDevice && res && timer.elapsed() < 2.0)
while (src_ == CameraVideo::kUsbDevice && res!=sl::SUCCESS && timer.elapsed() < 2.0)
{
// maybe there is a latency with the USB, try again in 10 ms (for the next 2 seconds)
uSleep(10);
res = zed_->grab(rparam);
}
if(!res)
if(res==sl::SUCCESS)
{
// get left image
sl::Mat tmp;zed_->retrieveImage(tmp,sl::VIEW_LEFT);
sl::Mat tmp;
zed_->retrieveImage(tmp,sl::VIEW_LEFT);
cv::Mat rgbaLeft = slMat2cvMat(tmp);
cv::Mat left;