Commit 1bc47f2c authored by Julia Sanchez's avatar Julia Sanchez
Browse files

[feat] Use IMU data in SLAM process

parent a4904887
......@@ -386,6 +386,11 @@ void Slam::AddFrames(const std::vector<PointCloud::Ptr>& frames)
IF_VERBOSE(3, Utils::Timer::Init("Logging"));
this->LogCurrentFrameState();
IF_VERBOSE(3, Utils::Timer::StopAndDisplay("Logging"));
// Update IMU graph with new slam pose to update the biases
IF_VERBOSE(3, Utils::Timer::Init("IMU biases refinement"));
this->ImuManager->Update(this->LogStates.back());
IF_VERBOSE(3, Utils::Timer::StopAndDisplay("IMU biases refinement"));
}
// Motion and localization parameters estimation information display
......@@ -1901,6 +1906,7 @@ void Slam::InitImu()
this->SensorTimeOffset,
this->SensorTimeThreshold,
this->SensorMaxMeasures);
this->PoseManager = this->ImuManager;
}
#endif
......
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