i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.

Browse Source
This commit is contained in:
matlabbe
2021-11-05 18:05:50 -04:00
parent 20bc281db7
commit ddd5eb5a41
8 changed files with 112 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
guilib/src/PreferencesDialog.cpp
View File

@@ -5857,6 +5857,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
!_ui->checkBox_stereo_rectify->isChecked()) ||
useRawImages,
useColor,
false,
false);
}
@@ -5866,7 +5867,8 @@ Camera * PreferencesDialog::createCamera(
const QString & calibrationPath,
bool useRawImages,
bool useColor,
bool odomOnly)
bool odomOnly,
bool odomSensorExtrinsicsCalib)
{
if(odomOnly && !(driver == kSrcStereoRealSense2 || driver == kSrcStereoZed))
{
@@ -6014,7 +6016,7 @@ Camera * PreferencesDialog::createCamera(
if(driver == kSrcStereoRealSense2)
{
((CameraRealSense2*)camera)->setImagesRectified(!useRawImages);
((CameraRealSense2*)camera)->setOdomProvided(_ui->comboBox_odom_sensor->currentIndex() == 1 || odomOnly, odomOnly);
((CameraRealSense2*)camera)->setOdomProvided(_ui->comboBox_odom_sensor->currentIndex() == 1 || odomOnly, odomOnly, odomSensorExtrinsicsCalib);
}
else
{
@@ -6383,7 +6385,7 @@ Camera * PreferencesDialog::createOdomSensor(Transform & extrinsics, double & ti
timeOffset = _ui->doubleSpinBox_odom_sensor_time_offset->value()/1000.0;
scaleFactor = (float)_ui->doubleSpinBox_odom_sensor_scale_factor->value();
return createCamera(driver, _ui->lineEdit_odomSourceDevice->text(), _ui->lineEdit_odom_sensor_path_calibration->text(), false, true, true);
return createCamera(driver, _ui->lineEdit_odomSourceDevice->text(), _ui->lineEdit_odom_sensor_path_calibration->text(), false, true, true, false);
}
return 0;
}
@@ -7060,7 +7062,7 @@ void PreferencesDialog::calibrateOdomSensorExtrinsics()
odomDriver,
_ui->lineEdit_odomSourceDevice->text(),
_ui->lineEdit_odom_sensor_path_calibration->text(),
false, true, false); // Odom sensor
false, true, false, true); // Odom sensor
if(!camera)
{
return;