OdometryROS: refactored imu sync (#331). Using tf to compute baseline if Rtabmap/ImagesAlreadyRectified is true (for convenience with realsense rectified IR images but right camera info Tx not set)

2026-10-07 18:27:46 +08:00 · 2020-07-30 12:43:44 -04:00
parent 0f7044f6ff
commit ae854dfb4c
10 changed files with 134 additions and 30 deletions
@@ -141,7 +141,7 @@ private:
 	int odomStrategy_;
 	bool waitIMUToinit_;
 	bool imuProcessed_;
-	double lastImuReceivedStamp_;
+	std::map<double, rtabmap::IMU> imus_;
 	rtabmap::SensorData bufferedData_;
 };