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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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corelib/include/rtabmap/core/IMU.h
+2 -1
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@@ -19,7 +19,7 @@ class IMU
{
public:
IMU() {}
IMU(const cv::Vec4d & orientation,
IMU(const cv::Vec4d & orientation, // qx qy qz qw
const cv::Mat & orientationCovariance,
const cv::Vec3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
@@ -48,6 +48,7 @@ public:
{
}
// qx qy qz qw
const cv::Vec4d & orientation() const {return orientation_;}
const cv::Mat & orientationCovariance() const {return orientationCovariance_;} // 3x3 double Row major about x, y, z axes, empty if orientation is not set