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ORB-SLAM3 IMU support fixes (#1612)

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* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible.

* Output error msg when vocabulary path is wrong.

* Showing full local feature map
This commit is contained in:
matlabbe
2025-11-11 14:09:13 -08:00
committed by GitHub
parent c97f0c10dd
commit e612d103bf
8 changed files with 120 additions and 53 deletions
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guilib/src/PreferencesDialog.cpp
+8 -4
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@@ -6761,7 +6761,8 @@ Camera * PreferencesDialog::createCamera(
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0,
getIMUFilteringBaseFrameConversion());
}
else if (driver == kSrcRealSense)
{
@@ -6803,7 +6804,8 @@ Camera * PreferencesDialog::createCamera(
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0,
getIMUFilteringBaseFrameConversion());
if(driver == kSrcStereoRealSense2)
{
((CameraRealSense2*)camera)->setImagesRectified((_ui->checkBox_stereo_rectify->isEnabled() && _ui->checkBox_stereo_rectify->isChecked()) && !useRawImages);
@@ -7021,7 +7023,8 @@ Camera * PreferencesDialog::createCamera(
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0,
getIMUFilteringBaseFrameConversion());
((CameraStereoZed*)camera)->setRightGrayScale(_ui->checkBox_stereo_rightGrayScale->isChecked());
}
else if (driver == kSrcStereoZedOC)
@@ -7070,7 +7073,8 @@ Camera * PreferencesDialog::createCamera(
camera->setInterIMUPublishing(
_ui->checkbox_publishInterIMU->isChecked(),
_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0,
getIMUFilteringBaseFrameConversion());
}
else if(driver == kSrcUsbDevice)
{