i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
guilib/src/PreferencesDialog.cpp
+11 -18
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())));