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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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corelib/src/Parameters.cpp
+17
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@@ -180,6 +180,9 @@ rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, boo
(icp && group.compare("Icp") == 0) ||
(vis && Parameters::isFeatureParameter(iter->first)) ||
group.compare("Reg") == 0 ||
group.compare("Optimizer") == 0 ||
group.compare("g2o") == 0 ||
group.compare("GTSAM") == 0 ||
(vis && group.compare("Vis") == 0) ||
iter->first.compare(kRtabmapPublishRAMUsage())==0)
{
@@ -234,6 +237,14 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
{
// removed parameters
// 0.19.3
removedParameters_.insert(std::make_pair("Aruco/Dictionary", std::make_pair(true, Parameters::kMarkerDictionary())));
removedParameters_.insert(std::make_pair("Aruco/MarkerLength", std::make_pair(true, Parameters::kMarkerLength())));
removedParameters_.insert(std::make_pair("Aruco/MaxDepthError", std::make_pair(true, Parameters::kMarkerMaxDepthError())));
removedParameters_.insert(std::make_pair("Aruco/VarianceLinear", std::make_pair(true, Parameters::kMarkerVarianceLinear())));
removedParameters_.insert(std::make_pair("Aruco/VarianceAngular", std::make_pair(true, Parameters::kMarkerVarianceAngular())));
removedParameters_.insert(std::make_pair("Aruco/CornerRefinementMethod", std::make_pair(true, Parameters::kMarkerCornerRefinementMethod())));
// 0.17.5
removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr", std::make_pair(true, Parameters::kGridGlobalOccupancyThr())));
@@ -591,6 +602,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With Madgwick:";
#ifdef RTABMAP_MADGWICK
std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
#else
std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
#endif
str = "With TORO:";
#ifdef RTABMAP_TORO