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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/src/optimizer/OptimizerG2O.cpp
+3
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@@ -1417,6 +1417,9 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
g2o::VertexCam* v1 = (g2o::VertexCam*)optimizer.vertex(id1);
EdgeSBACamGravity* priorEdge(new EdgeSBACamGravity());
std::map<int, CameraModel>::const_iterator iterModel = models.find(iter->first);
UASSERT(iterModel != models.end() && !iterModel->second.localTransform().isNull());
priorEdge->setCameraInvLocalTransform(iterModel->second.localTransform().inverse().toEigen3d().linear());
priorEdge->setMeasurement(m);
priorEdge->setInformation(information);
priorEdge->vertices()[0] = v1;