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IMU: changed members from Eigen to cv to avoid seg faults about Eigen memory alignment when copying IMU object created dynamically (#270)

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matlabbe
2018-03-21 21:31:41 -04:00
parent 4188da2ef2
commit 00412749e7
5 changed files with 60 additions and 16 deletions
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4
corelib/src/IMUThread.cpp
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@@ -121,13 +121,13 @@ void IMUThread::mainLoop()
std::string nanoseconds = s.substr(s.size() - 9, 9);
std::string seconds = s.substr(0, s.size() - 9);
Eigen::Vector3d gyr;
cv::Vec3d gyr;
for (int j = 0; j < 3; ++j) {
std::getline(stream, s, ',');
gyr[j] = uStr2Double(s);
}
Eigen::Vector3d acc;
cv::Vec3d acc;
for (int j = 0; j < 3; ++j) {
std::getline(stream, s, ',');
acc[j] = uStr2Double(s);

4
corelib/src/OdometryOkvis.cpp
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@@ -200,7 +200,9 @@ Transform OdometryOkvis::computeTransform(
data.imu().angularVelocity()[2]);
if(okvisEstimator_ != 0)
{
imuUpdated = okvisEstimator_->addImuMeasurement(timeOkvis, data.imu().linearAcceleration(), data.imu().angularVelocity());
Eigen::Vector3d acc(data.imu().linearAcceleration()[0], data.imu().linearAcceleration()[1], data.imu().linearAcceleration()[2]);
Eigen::Vector3d ang(data.imu().angularVelocity()[0], data.imu().angularVelocity()[1], data.imu().angularVelocity()[2]);
imuUpdated = okvisEstimator_->addImuMeasurement(timeOkvis, acc, ang);
}
else
{