i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.

Browse Source
This commit is contained in:
matlabbe
2019-05-13 18:42:46 -04:00
parent cbca362cc4
commit f8a8e55e7e
15 changed files with 762 additions and 262 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
corelib/src/odometry/OdometryF2M.cpp
View File

@@ -195,7 +195,7 @@ Transform OdometryF2M::computeTransform(
info->type = 0;
}
if(!data.imu().empty())
if(sba_ && sba_->gravitySigma() > 0.0f && !data.imu().empty())
{
if(data.imu().orientation()[0] == 0.0 && data.imu().orientation()[1] == 0.0 && data.imu().orientation()[2] == 0.0)
{
@@ -1332,14 +1332,16 @@ Transform OdometryF2M::getClosestIMU(const double & stamp, double & stampDiff) c
if(fabs(imuIterA->first - lastFrame_->getStamp()) <
fabs(imuIterB->first - lastFrame_->getStamp()))
{
imuT = imuIterA->second;
//imuT = imuIterA->second;
stampDiff = fabs(imuIterA->first - lastFrame_->getStamp());
}
else
{
imuT = imuIterB->second;
//imuT = imuIterB->second;
stampDiff = fabs(imuIterB->first - lastFrame_->getStamp());
}
//interpolate:
imuT = imuIterA->second.interpolate((stamp-imuIterA->first) / (imuIterB->first-imuIterA->first), imuIterB->second);
}
return imuT;
}