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Added IMU support for camera images source with odom approach not supporting async imu

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This commit is contained in:
matlabbe
2023-04-16 17:32:32 -07:00
parent b91addb261
commit e300d4c5c1
6 changed files with 111 additions and 38 deletions
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31
guilib/src/MainWindow.cpp
View File

@@ -5843,27 +5843,20 @@ void MainWindow::startDetection()
_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcImages) &&
!_preferencesDialog->getIMUPath().isEmpty())
{
if( odomStrategy != Odometry::kTypeOkvis &&
odomStrategy != Odometry::kTypeMSCKF &&
odomStrategy != Odometry::kTypeVINS &&
odomStrategy != Odometry::kTypeOpenVINS)
_imuThread = new IMUThread(_preferencesDialog->getIMURate(), _preferencesDialog->getIMULocalTransform());
if(_preferencesDialog->getIMUFilteringStrategy()>0)
{
_imuThread->enableIMUFiltering(_preferencesDialog->getIMUFilteringStrategy()-1, parameters, _preferencesDialog->getIMUFilteringBaseFrameConversion());
}
if(!_imuThread->init(_preferencesDialog->getIMUPath().toStdString()))
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support asynchronous IMU, ignoring IMU..."), QMessageBox::Ok);
}
else
{
_imuThread = new IMUThread(_preferencesDialog->getIMURate(), _preferencesDialog->getIMULocalTransform());
if(!_imuThread->init(_preferencesDialog->getIMUPath().toStdString()))
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("Initialization of IMU data has failed! Path=%1.").arg(_preferencesDialog->getIMUPath()), QMessageBox::Ok);
delete _camera;
_camera = 0;
delete _imuThread;
_imuThread = 0;
return;
}
tr("Initialization of IMU data has failed! Path=%1.").arg(_preferencesDialog->getIMUPath()), QMessageBox::Ok);
delete _camera;
_camera = 0;
delete _imuThread;
_imuThread = 0;
return;
}
}
Odometry * odom = Odometry::create(odomParameters);

29
guilib/src/PreferencesDialog.cpp
View File

@@ -6609,35 +6609,28 @@ void PreferencesDialog::testOdometry()
return;
}
ParametersMap parameters = this->getAllParameters();
IMUThread * imuThread = 0;
if((this->getSourceDriver() == kSrcStereoImages ||
this->getSourceDriver() == kSrcRGBDImages ||
this->getSourceDriver() == kSrcImages) &&
!_ui->lineEdit_cameraImages_path_imu->text().isEmpty())
{
if(this->getOdomStrategy() != Odometry::kTypeOkvis &&
this->getOdomStrategy() != Odometry::kTypeMSCKF &&
this->getOdomStrategy() != Odometry::kTypeVINS &&
this->getOdomStrategy() != Odometry::kTypeOpenVINS)
imuThread = new IMUThread(_ui->spinBox_cameraImages_max_imu_rate->value(), this->getIMULocalTransform());
if(getIMUFilteringStrategy()>0)
{
imuThread->enableIMUFiltering(getIMUFilteringStrategy()-1, parameters, getIMUFilteringBaseFrameConversion());
}
if(!imuThread->init(_ui->lineEdit_cameraImages_path_imu->text().toStdString()))
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("IMU path is set but odometry chosen doesn't support asynchronous IMU, ignoring IMU..."), QMessageBox::Ok);
}
else
{
imuThread = new IMUThread(_ui->spinBox_cameraImages_max_imu_rate->value(), this->getIMULocalTransform());
if(!imuThread->init(_ui->lineEdit_cameraImages_path_imu->text().toStdString()))
{
QMessageBox::warning(this, tr("Source IMU Path"),
tr("Initialization of IMU data has failed! Path=%1.").arg(_ui->lineEdit_cameraImages_path_imu->text()), QMessageBox::Ok);
delete camera;
delete imuThread;
return;
}
tr("Initialization of IMU data has failed! Path=%1.").arg(_ui->lineEdit_cameraImages_path_imu->text()), QMessageBox::Ok);
delete camera;
delete imuThread;
return;
}
}
ParametersMap parameters = this->getAllParameters();
if(getOdomRegistrationApproach() < 3)
{
uInsert(parameters, ParametersPair(Parameters::kRegStrategy(), uNumber2Str(getOdomRegistrationApproach())));