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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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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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8
guilib/src/MainWindow.cpp
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@@ -874,13 +874,7 @@ bool MainWindow::handleEvent(UEvent* anEvent)
}
else
{
// we receive too many odometry events! just send without data
SensorData data(cv::Mat(), cameraEvent->data().id(), cameraEvent->data().stamp());
data.setCameraModels(cameraEvent->data().cameraModels());
data.setStereoCameraModel(cameraEvent->data().stereoCameraModel());
data.setGroundTruth(cameraEvent->data().groundTruth());
OdometryEvent tmp(data, cameraEvent->info().odomPose, odomInfo);
emit odometryReceived(tmp, true);
// we receive too many odometry events! ignore them
}
}
}

2
guilib/src/PreferencesDialog.cpp
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@@ -1622,7 +1622,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->spinBox_stereo_right_device->setValue(-1);
_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
_ui->checkbox_stereoZed_selfCalibration->setChecked(false);
_ui->checkbox_stereoZed_selfCalibration->setChecked(true);
_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(0);
_ui->spinBox_stereoZed_confidenceThr->setValue(100);
_ui->checkbox_stereoZed_odom->setChecked(false);