calibrate imu

GPU_version/svo/include/gpu_svo/depth_filter.h

@@ -138,7 +138,6 @@ public:
 protected:
   feature_detection::DetectorPtr feature_detector_;
   callback_t seed_converged_cb_;
-  //std::list<Seed> seeds_;
   std::list<Seed, Eigen::aligned_allocator<Seed>> seeds_;
   boost::mutex seeds_mut_;
   bool seeds_updating_halt_;            //!< Set this value to true when seeds updating should be interrupted.
@@ -150,8 +149,8 @@ protected:
   bool new_keyframe_set_;               //!< Do we have a new keyframe to process?.
   double new_keyframe_min_depth_;       //!< Minimum depth in the new keyframe. Used for range in new seeds.
   double new_keyframe_mean_depth_;      //!< Maximum depth in the new keyframe. Used for range in new seeds.
-  //vk::PerformanceMonitor permon_;       //!< Separate performance monitor since the DepthFilter runs in a parallel thread.
   Matcher matcher_;
+  uint seeds_cont_=0;
 
   /// Initialize new seeds from a frame.
   void initializeSeeds(FramePtr frame);

GPU_version/svo/include/gpu_svo/imu_integration.h

@@ -24,13 +24,13 @@ class Imu_Integration{
 public:
     Imu_Integration(Sophus::SE3& SE_init);
     ~Imu_Integration();
-    bool reset(gtsam::ISAM2& optimizer,boost::shared_ptr<svo::Frame>& new_frame);
+    void reset();
     bool reset(gtsam::LevenbergMarquardtOptimizer& optimizer,boost::shared_ptr<svo::Frame>& new_frame);
     bool update(double* imu= nullptr);
     bool predict(boost::shared_ptr<svo::Frame>&,
-                 boost::shared_ptr<svo::Frame>& last_frame ,std::size_t&,const double reproj_thresh);
+                 boost::shared_ptr<svo::Frame>& last_frame ,const double match);
     bool init(boost::shared_ptr<svo::Frame>&);
-    Sophus::SE3 preintegrate_predict();
+    bool preintegrate_predict(svo::SE2_5& frame);
 private:
     FILE* logtime;
     std::shared_ptr<gtsam::NavState> statePtr;