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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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22
corelib/include/rtabmap/core/IMU.h
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@@ -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_;

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
{

42
docker/artful/Dockerfile Normal file
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@@ -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

4
tools/EurocDataset/main.cpp
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@@ -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);