Empty IMU measurements vector!!! First KF:0; Map init KF:0 New Map created with 445 points Empty IMU measurements vector!!! Empty IMU measurements vector!!! Empty IMU measurements vector!!! Framebuffer with requested attributes not available. Using available framebuffer. You may see visual art...
// Vector of IMU measurements from previous to current frame IMU::Preintegrated *mpImuPreintegratedFromLastKF; // Imu preintegration from last frame } void Tracking::PreintegrateIMU() { // 存储两帧间的 n 次 IMU 测量 while(true){ unique_lock<mutex> lock(mMutexImuQueue); mvImuFromLastFram...
vectorvImuMeas; mpImuGb->mBufMutex.lock(); if(!mpImuGb->imuBuf.empty()) { // Load imu measurements from buffer vImuMeas.clear(); while(!mpImuGb->imuBuf.empty() && mpImuGb->imuBuf.front()->header.stamp.toSec()<=tIm) { double t = mpImuGb->imuBuf.front()->header.stamp.toS...
.lock();imRight=GetImage(imgRightBuf.front());imgRightBuf.pop();this->mBufMutexRight.unlock();vector<ORB_SLAM3::IMU::Point>vImuMeas;mpImuGb->mBufMutex.lock();if(!mpImuGb->imuBuf.empty()){// Load imu measurements from buffervImuMeas.clear();//获取当前左目图像时间戳之前的imu数据...
// Load imu measurements from previous frame vImuMeas.clear(); if(ni>0) while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni]) // while(vTimestampsImu[first_imu]<=vTimestampsCam[ni]) while(vTimestampsImu[seq][first_imu[seq]]<=vTimestampsCam[seq][ni]) { vImuM...
vector<ORB_SLAM3::IMU::Point> vImuMeas; mpImuGb->mBufMutex.lock(); if(!mpImuGb->imuBuf.empty()) { // Load imu measurements from buffer vImuMeas.clear(); while(!mpImuGb->imuBuf.empty() && mpImuGb->imuBuf.front()->header.stamp.toSec()<=tIm) { double t = mpImuGb->imuBuf...