Handling intial odometry pose in all odometry approaches. For VIO approaches, gravity initialization is handled too. (#298)

corelib/include/rtabmap/core/OdometryMSCKF.h

@@ -55,6 +55,8 @@ private:
 	IMU lastImu_;
 	ParametersMap parameters_;
 	Transform flipXY_;
+	Transform previousPose_;
+	bool initGravity_;
 #endif
 };
 

corelib/include/rtabmap/core/OdometryORBSLAM2.h

@@ -54,8 +54,9 @@ private:
 #ifdef RTABMAP_ORB_SLAM2
 	ORBSLAM2System * orbslam2_;
 	bool firstFrame_;
-#endif
 	Transform originLocalTransform_;
+	Transform previousPose_;
+#endif
 
 };
 

corelib/include/rtabmap/core/OdometryOkvis.h

@@ -59,6 +59,8 @@ private:
 	ParametersMap okvisParameters_;
 	IMU lastImu_; // only used for initialization
 	int imagesProcessed_;
+	Transform previousPose_;
+	bool initGravity_;
 };
 
 }