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Refactored how IMU is used in odometry (if guess is not set, use imu orientation for guess). Changed canProcessIMU() to canProcessAsynIMU() to make it more clear for odometry approaches able to process IMU between image frames (VIO approaches). ZedOC: fixed device closed if imu is not detected.

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This commit is contained in:
matlabbe
2021-03-01 19:27:24 -05:00
parent f7bc47572b
commit ea4cc7cb6c
11 changed files with 171 additions and 181 deletions
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tools/CameraRGBD/main.cpp
+6 -6
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@@ -213,7 +213,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect(uStr2Int(deviceId));
camera = new rtabmap::CameraFreenect(deviceId.empty()?0:uStr2Int(deviceId));
}
else if(driver == 3)
{
@@ -240,7 +240,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2(uStr2Int(deviceId), rtabmap::CameraFreenect2::kTypeColor2DepthSD);
camera = new rtabmap::CameraFreenect2(deviceId.empty()?0:uStr2Int(deviceId), rtabmap::CameraFreenect2::kTypeColor2DepthSD);
}
}
else if(driver == 6)
@@ -268,7 +268,7 @@ int main(int argc, char * argv[])
UERROR("Not built with ZED sdk support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZed(uStr2Int(deviceId));
camera = new rtabmap::CameraStereoZed(deviceId.empty()?0:uStr2Int(deviceId));
}
else if (driver == 9)
{
@@ -277,7 +277,7 @@ int main(int argc, char * argv[])
UERROR("Not built with RealSense support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense(uStr2Int(deviceId));
camera = new rtabmap::CameraRealSense(deviceId.empty()?0:uStr2Int(deviceId));
}
else if (driver == 10)
{
@@ -286,7 +286,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Kinect for Windows 2 SDK support...");
exit(-1);
}
camera = new rtabmap::CameraK4W2(uStr2Int(deviceId));
camera = new rtabmap::CameraK4W2(deviceId.empty()?0:uStr2Int(deviceId));
}
else if (driver == 11)
{
@@ -322,7 +322,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Zed Open Capture support...");
exit(-1);
}
camera = new rtabmap::CameraStereoZedOC(uStr2Int(deviceId));
camera = new rtabmap::CameraStereoZedOC(deviceId.empty()?-1:uStr2Int(deviceId));
}
else
{