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calibrate imu

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This commit is contained in:
gfuse
2021-06-04 14:59:02 +02:00
parent 982217598a
commit 27f92bc7e7
11 changed files with 108 additions and 140 deletions
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GPU_version/svo/include/gpu_svo/imu_integration.h
+3 -3
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@@ -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;