Disable IMU preintegration by default#392
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JanuszBedkowski merged 6 commits intoMapsHD:mainfrom Mar 8, 2026
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…eanup - Default use_imu_preintegration=false (safe default matching pre-preintegration behavior) - VQF bias estimation stays enabled by default (improves orientation quality) - Fix initial_velocity: methods 0-4 use SM-based velocity, methods 5-7 use VQF velocity - Fix gyro unit mismatch in estimate_orientations (rad/s, not deg/s) - Update method names in GUI and to_string to show velocity source - Reorganize GUI: rest detection params under checkbox, remove unnecessary TreeNode - Remove unused Fusion/Madgwick 3rdparty submodule
…ctor visualization - Remove estimate_orientations() and per-worker VQF instance - Methods 5-7 now use orientations from global VQF (via new_trajectory) instead of spawning a fresh VQF per worker with hardcoded params - Only difference between methods 2-4 and 5-7 is velocity source (SM vs VQF) - Add imu_prediction_vector to WorkerData for visualization - Render prediction vectors as yellow arrows (menu: Show prediction vectors) - Update method names to reflect unified orientation source
- Extract common total_imu_time computation - Simplify velocity branches with cleaner structure - Use .back() instead of [size()-1] - Fix prediction vector rendering: magenta color, thicker line, disable depth test
- euler_body_frame -> euler_no_gravity_sm_vel - trapezoidal_body_frame -> trapezoidal_no_gravity_sm_vel - euler_gravity_compensated -> euler_gravity_sm_vel - trapezoidal_gravity_compensated -> trapezoidal_gravity_sm_vel - kalman_filter -> kalman_gravity_sm_vel - euler_gyro_gravity_compensated -> euler_gravity_vqf_vel - trapezoidal_gyro_gravity_compensated -> trapezoidal_gravity_vqf_vel - kalman_gyro_gravity_compensated -> kalman_gravity_vqf_vel Fix Eigen ternary operator compile error
Jakubach
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Mar 8, 2026
Re-add estimate_orientations() that was removed in PR MapsHD#392. Methods 5-7 (VQF velocity) now use a local VQF instance per worker to estimate orientations from IMU data, instead of reusing the global VQF orientations. Also restore missing imu_utils function definitions (safe_dt, has_nan, is_accel_valid, convert_gyro_to_rads).
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