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This commit is contained in:
matlabbe
2018-07-18 16:15:41 -04:00
parent 15e09cd0a8
commit 9ae47b79f9
16 changed files with 1077 additions and 847 deletions
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corelib/include/rtabmap/core/IMU.h
+1 -6
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@@ -34,9 +34,6 @@ public:
linearAccelerationCovariance_(linearAccelerationCovariance),
localTransform_(localTransform)
{
UASSERT(!orientationCovariance.empty() && orientationCovariance.cols == 3 && orientationCovariance.rows == 3 && orientationCovariance.type() == CV_64FC1);
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 cv::Vec3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
@@ -49,8 +46,6 @@ public:
linearAccelerationCovariance_(linearAccelerationCovariance),
localTransform_(localTransform)
{
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);
}
const cv::Vec4d & orientation() const {return orientation_;}
@@ -66,7 +61,7 @@ public:
bool empty() const
{
return orientationCovariance_.empty() && angularVelocityCovariance_.empty() && linearAccelerationCovariance_.empty();
return localTransform_.isNull();
}