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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/camera/CameraStereoZed.h
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@@ -83,6 +83,7 @@ private:
#ifdef RTABMAP_ZED
sl::Camera * zed_;
StereoCameraModel stereoModel_;
Transform imuLocalTransform_;
CameraVideo::Source src_;
int usbDevice_;
std::string svoFilePath_;