track the trajectory with noise

2021-05-29 16:53:00 +02:00
parent cd6f0c5b97
commit faf00a6aad
20 changed files with 201 additions and 247 deletions
@@ -32,6 +32,7 @@ public:
    bool init(boost::shared_ptr<svo::Frame>&);
    Sophus::SE3 preintegrate_predict();
 private:
+    FILE* logtime;
    std::shared_ptr<gtsam::NavState> statePtr;
    std::shared_ptr<gtsam::imuBias::ConstantBias> imu_biasPtr;
    std::shared_ptr<gtsam::Values> valuesPtr;