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Updated for rtabmap 0.19.1. Added VINS example in euroc_datasets.launch

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matlabbe
2019-03-18 20:47:13 -04:00
parent 6bd420bc54
commit ab23e651bf
8 changed files with 91 additions and 15 deletions
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src/OdometryROS.cpp
+7 -2
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@@ -343,7 +343,10 @@ void OdometryROS::onInit()
odomStrategy_ = 0;
Parameters::parse(this->parameters(), Parameters::kOdomStrategy(), odomStrategy_);
if(waitIMUToinit_ || odomStrategy_ == Odometry::kTypeMSCKF || odomStrategy_ == Odometry::kTypeOkvis)
if(waitIMUToinit_ ||
odomStrategy_ == Odometry::kTypeMSCKF ||
odomStrategy_ == Odometry::kTypeOkvis ||
odomStrategy_ == Odometry::kTypeVINS)
{
int queueSize = 10;
pnh.param("queue_size", queueSize, queueSize);
@@ -414,6 +417,7 @@ void OdometryROS::callbackIMU(const sensor_msgs::ImuConstPtr& msg)
{
if(odomStrategy_ != Odometry::kTypeOkvis &&
odomStrategy_ != Odometry::kTypeMSCKF &&
odomStrategy_ != Odometry::kTypeVINS &&
!odometry_->getPose().isIdentity())
{
// For non-inertial odometry approaches, IMU is only used to initialize the initial orientation below
@@ -441,7 +445,8 @@ void OdometryROS::callbackIMU(const sensor_msgs::ImuConstPtr& msg)
localTransform);
if(odomStrategy_ != Odometry::kTypeOkvis &&
odomStrategy_ != Odometry::kTypeMSCKF)
odomStrategy_ != Odometry::kTypeMSCKF &&
odomStrategy_ != Odometry::kTypeVINS)
{
if(!odometry_->getPose().isIdentity())
{