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Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.

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matlabbe
2019-05-07 18:57:53 -04:00
parent 4675240d6e
commit e6f471d88e
32 changed files with 1733 additions and 158 deletions
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2
app/android/jni/RTABMapApp.cpp
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@@ -100,7 +100,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLinearUpdate(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAngularUpdate(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kArucoMarkerLength(), std::string("0.0")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMarkerLength(), std::string("0.0")));
if(parameters.find(rtabmap::Parameters::kOptimizerStrategy()) != parameters.end())
{