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Refactored how IMU is used in odometry (if guess is not set, use imu orientation for guess). Changed canProcessIMU() to canProcessAsynIMU() to make it more clear for odometry approaches able to process IMU between image frames (VIO approaches). ZedOC: fixed device closed if imu is not detected.

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This commit is contained in:
matlabbe
2021-03-01 19:27:24 -05:00
parent f7bc47572b
commit ea4cc7cb6c
11 changed files with 171 additions and 181 deletions
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2
corelib/include/rtabmap/core/Odometry.h
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@@ -67,7 +67,7 @@ public:
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() = 0;
virtual bool canProcessRawImages() const {return false;}
virtual bool canProcessIMU() const {return false;}
virtual bool canProcessAsyncIMU() const {return false;}
//getters
const Transform & getPose() const {return _pose;}

2
corelib/include/rtabmap/core/odometry/OdometryF2M.h
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@@ -50,7 +50,6 @@ public:
virtual void reset(const Transform & initialPose = Transform::getIdentity());
const Signature & getMap() const {return *map_;}
const Signature & getLastFrame() const {return *lastFrame_;}
virtual bool canProcessIMU() const;
virtual Odometry::Type getType() {return Odometry::kTypeF2M;}
@@ -79,7 +78,6 @@ private:
Signature * lastFrame_;
int lastFrameOldestNewId_;
std::vector<std::pair<pcl::PointCloud<pcl::PointXYZINormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
bool initGravity_;
std::map<int, std::map<int, FeatureBA> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
std::map<int, Transform> bundlePoses_;

2
corelib/include/rtabmap/core/odometry/OdometryMSCKF.h
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@@ -44,7 +44,7 @@ public:
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeMSCKF;}
virtual bool canProcessRawImages() const {return true;}
virtual bool canProcessIMU() const {return true;}
virtual bool canProcessAsyncIMU() const {return true;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);

2
corelib/include/rtabmap/core/odometry/OdometryOkvis.h
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@@ -46,7 +46,7 @@ public:
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeOkvis;}
virtual bool canProcessRawImages() const {return true;}
virtual bool canProcessIMU() const {return true;}
virtual bool canProcessAsyncIMU() const {return true;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);

2
corelib/include/rtabmap/core/odometry/OdometryVINS.h
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@@ -43,7 +43,7 @@ public:
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual Odometry::Type getType() {return Odometry::kTypeVINS;}
virtual bool canProcessRawImages() const {return true;}
virtual bool canProcessIMU() const {return true;}
virtual bool canProcessAsyncIMU() const {return true;}
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);