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Added IMU support for camera images source with odom approach not supporting async imu

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matlabbe
2023-04-16 17:32:32 -07:00
parent b91addb261
commit e300d4c5c1
6 changed files with 111 additions and 38 deletions
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7
corelib/include/rtabmap/core/IMUThread.h
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/utilite/UThread.h>
#include <rtabmap/utilite/UEventsSender.h>
#include <rtabmap/utilite/UTimer.h>
@@ -39,6 +40,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap
{
class IMUFilter;
/**
* Class IMUThread
*
@@ -53,6 +56,8 @@ public:
bool init(const std::string & path);
void setRate(int rate);
void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap(), bool baseFrameConversion = false);
void disableIMUFiltering();
private:
virtual void mainLoopBegin();
@@ -65,6 +70,8 @@ private:
UTimer frameRateTimer_;
double captureDelay_;
double previousStamp_;
IMUFilter * _imuFilter;
bool _imuBaseFrameConversion;
};
} // namespace rtabmap