i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

OdometryF2M: refactored imu buffer

Browse Source
This commit is contained in:
matlabbe
2020-05-31 14:33:20 -04:00
parent caffb56246
commit c7be9a23ee
4 changed files with 43 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/include/rtabmap/core/Odometry.h
View File

@@ -78,6 +78,9 @@ public:
unsigned int framesProcessed() const {return framesProcessed_;}
bool imagesAlreadyRectified() const {return _imagesAlreadyRectified;}
protected:
const std::map<double, Transform> & imus() const {return imus_;}
private:
virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
@@ -117,6 +120,7 @@ private:
std::vector<ParticleFilter *> particleFilters_;
cv::KalmanFilter kalmanFilter_;
StereoCameraModel stereoModel_;
std::map<double, Transform> imus_;
protected:
Odometry(const rtabmap::ParametersMap & parameters);

1
corelib/include/rtabmap/core/odometry/OdometryF2M.h
View File

@@ -79,7 +79,6 @@ private:
Signature * lastFrame_;
int lastFrameOldestNewId_;
std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
std::map<double, Transform> imus_;
bool initGravity_;
std::map<int, std::map<int, FeatureBA> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>