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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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5
corelib/src/odometry/OdometryF2M.cpp
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@@ -214,6 +214,11 @@ Transform OdometryF2M::computeTransform(
if(sba_ && sba_->gravitySigma() > 0.0f && !imus().empty())
{
imuT = Transform::getTransform(imus(), data.stamp());
if(data.imu().empty())
{
Eigen::Quaternionf q = imuT.getQuaternionf();
data.setIMU(IMU(cv::Vec4d(q.x(), q.y(), q.z(), q.w()), cv::Mat(), cv::Vec3d(), cv::Mat(), cv::Vec3d(), cv::Mat()));
}
}
RegistrationInfo regInfo;