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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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This commit is contained in:
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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11
corelib/src/CMakeLists.txt
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@@ -88,6 +88,8 @@ SET(SRC_FILES
odometry/OdometryVINS.cpp
IMUThread.cpp
IMUFilter.cpp
imufilter/ComplementaryFilter.cpp
Stereo.cpp
StereoDense.cpp
@@ -470,7 +472,7 @@ IF(GTSAM_FOUND)
)
ENDIF()
SET(SRC_FILES
${SRC_FILES}
${SRC_FILES}
optimizer/gtsam/GravityFactor.cpp
)
IF(WIN32)
@@ -483,6 +485,13 @@ IF(GTSAM_FOUND)
)
ENDIF(GTSAM_FOUND)
IF(WITH_MADGWICK)
SET(SRC_FILES
${SRC_FILES}
imufilter/MadgwickFilter.cpp
)
ENDIF(WITH_MADGWICK)
####################################
# Generate resources files
####################################