update OdometryOpenVINS implementation

introlab · Sep 28, 2023 · ddb1595 · ddb1595
1 parent 3c59f72
commit ddb1595
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Showing 2 changed files with 246 additions and 332 deletions.
diff --git a/corelib/include/rtabmap/core/odometry/OdometryOpenVINS.h b/corelib/include/rtabmap/core/odometry/OdometryOpenVINS.h
@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace ov_msckf {
 class VioManager;
+struct VioManagerOptions;
 }
 
 namespace rtabmap {
@@ -52,11 +53,10 @@ class RTABMAP_CORE_EXPORT OdometryOpenVINS : public Odometry
 private:
 #ifdef RTABMAP_OPENVINS
 	std::unique_ptr<ov_msckf::VioManager> vioManager_;
+	std::unique_ptr<ov_msckf::VioManagerOptions> params_;
 	bool initGravity_;
 	Transform previousPose_;
-	Transform previousLocalTransform_;
-	Transform imuLocalTransform_;
-	std::map<double, IMU> imuBuffer_;
+	Transform imuLocalTransformInv_;
 #endif
 };