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

corelib/include/rtabmap/core/IMU.h

@@ -19,11 +19,11 @@ class IMU
 {
 public:
 	IMU() {}
-	IMU(const Eigen::Quaterniond & orientation,
+	IMU(const cv::Vec4d & orientation,
 		const cv::Mat & orientationCovariance,
-		const Eigen::Vector3d & angularVelocity,
+		const cv::Vec3d & angularVelocity,
 		const cv::Mat & angularVelocityCovariance,
-		const Eigen::Vector3d & linearAcceleration,
+		const cv::Vec3d & linearAcceleration,
 		const cv::Mat & linearAccelerationCovariance,
 		const Transform & localTransform = Transform::getIdentity()) :
 			orientation_(orientation),
@@ -38,9 +38,9 @@ public:
 		UASSERT(!angularVelocityCovariance.empty() && angularVelocityCovariance.cols == 3 && angularVelocityCovariance.rows == 3 && angularVelocityCovariance.type() == CV_64FC1);
 		UASSERT(!linearAccelerationCovariance.empty() && linearAccelerationCovariance.cols == 3 && linearAccelerationCovariance.rows == 3 && linearAccelerationCovariance.type() == CV_64FC1);
 	}
-	IMU(const Eigen::Vector3d & angularVelocity,
+	IMU(const cv::Vec3d & angularVelocity,
 		const cv::Mat & angularVelocityCovariance,
-		const Eigen::Vector3d & linearAcceleration,
+		const cv::Vec3d & linearAcceleration,
 		const cv::Mat & linearAccelerationCovariance,
 		const Transform & localTransform = Transform::getIdentity()) :
 			angularVelocity_(angularVelocity),
@@ -53,13 +53,13 @@ public:
 		UASSERT(!linearAccelerationCovariance.empty() && linearAccelerationCovariance.cols == 3 && linearAccelerationCovariance.rows == 3 && linearAccelerationCovariance.type() == CV_64FC1);
 	}
 
-	const Eigen::Quaterniond & orientation() const {return orientation_;}
+	const cv::Vec4d & orientation() const {return orientation_;}
 	const cv::Mat & orientationCovariance() const {return orientationCovariance_;} // 3x3 double Row major about x, y, z axes, empty if orientation is not set
 
-	const Eigen::Vector3d & angularVelocity() const {return angularVelocity_;}
+	const cv::Vec3d & angularVelocity() const {return angularVelocity_;}
 	const cv::Mat & angularVelocityCovariance() const {return angularVelocityCovariance_;} // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
 
-	const Eigen::Vector3d linearAcceleration() const {return linearAcceleration_;}
+	const cv::Vec3d linearAcceleration() const {return linearAcceleration_;}
 	const cv::Mat & linearAccelerationCovariance() const {return linearAccelerationCovariance_;} // 3x3 double Row major x, y z, empty if linearAcceleration is not set
 
 	const Transform & localTransform() const {return localTransform_;}
@@ -71,13 +71,13 @@ public:
 
 
 private:
-	Eigen::Quaterniond orientation_;
+	cv::Vec4d orientation_;
 	cv::Mat orientationCovariance_; // 3x3 double Row major about x, y, z axes, empty if orientation is not set
 
-	Eigen::Vector3d angularVelocity_;
+	cv::Vec3d angularVelocity_;
 	cv::Mat angularVelocityCovariance_; // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
 
-	Eigen::Vector3d linearAcceleration_;
+	cv::Vec3d linearAcceleration_;
 	cv::Mat linearAccelerationCovariance_; // 3x3 double Row major x, y z, empty if linearAcceleration is not set
 
 	Transform localTransform_;

corelib/src/IMUThread.cpp

@@ -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);

corelib/src/OdometryOkvis.cpp

@@ -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
 		{

docker/artful/Dockerfile

@@ -0,0 +1,42 @@
+# Image: introlab3it/rtabmap:artful
+
+FROM ubuntu:17.10
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev \
+      libfreenect-dev \
+      libopenni2-dev \
+      software-properties-common
+
+WORKDIR /root/
+
+# using OpenCV from source because ffmpeg (libav..) error with opencv binaries
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd rtabmap/build && \
+    cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+# Clone source code
+RUN git clone https://github.com/introlab/rtabmap.git
+
+# Build RTAB-Map project
+RUN cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
+WORKDIR /root
+    

tools/EurocDataset/main.cpp

@@ -375,13 +375,13 @@ int main(int argc, char * argv[])
 					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] = std::stof(s);
 					}
 
-					Eigen::Vector3d acc;
+					cv::Vec3d acc;
 					for (int j = 0; j < 3; ++j) {
 						std::getline(stream, s, ',');
 						acc[j] = std::stof(s);