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OdometryThread: Updated logic on how to sync imu and sensor data (to make sure odom has always all IMUs it needs prior to process images)

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matlabbe
2025-06-29 17:00:12 -07:00
parent c9292bea5b
commit 963ba42a1a
5 changed files with 51 additions and 27 deletions
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corelib/src/Odometry.cpp
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@@ -322,7 +322,9 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
Transform previous = this->getPose();
Transform newFramePose = Transform(previous.x(), previous.y(), previous.z(), imuQuat.x(), imuQuat.y(), imuQuat.z(), imuQuat.w());
UWARN("Updated initial pose from %s to %s with IMU orientation", previous.prettyPrint().c_str(), newFramePose.prettyPrint().c_str());
std::map<double, rtabmap::Transform> imus = imus_;
this->reset(newFramePose);
imus_ = imus;
}
imus_.insert(std::make_pair(data.stamp(), imuT));