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matlabbe
2018-09-15 11:37:02 -04:00
parent 5f6dd0846d
commit 0cf37fbbf1
7 changed files with 39 additions and 115 deletions
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4
corelib/include/rtabmap/core/OdometryOkvis.h
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@@ -55,12 +55,12 @@ private:
#ifdef RTABMAP_OKVIS
OkvisCallbackHandler * okvisCallbackHandler_;
okvis::ThreadedKFVio * okvisEstimator_;
int imagesProcessed_;
bool initGravity_;
#endif
ParametersMap okvisParameters_;
IMU lastImu_; // only used for initialization
int imagesProcessed_;
Transform previousPose_;
bool initGravity_;
};
}

6
corelib/src/OdometryOkvis.cpp
View File

@@ -131,11 +131,11 @@ OdometryOkvis::OdometryOkvis(const ParametersMap & parameters) :
#ifdef RTABMAP_OKVIS
okvisCallbackHandler_(new OkvisCallbackHandler),
okvisEstimator_(0),
imagesProcessed_(0),
initGravity_(false),
#endif
okvisParameters_(parameters),
imagesProcessed_(0),
previousPose_(Transform::getIdentity()),
initGravity_(false)
previousPose_(Transform::getIdentity())
{
#ifdef RTABMAP_OKVIS
Parameters::parse(parameters, Parameters::kOdomOKVISConfigPath(), configFilename_);