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Also log the IMU correction as a quaternion. (#463)

master
Damon Kohler 2017-08-21 17:26:48 +02:00 committed by Wolfgang Hess
parent 0ef372d584
commit edfd6ac8d7
1 changed files with 6 additions and 5 deletions
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11
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
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@ -290,12 +290,13 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
} }
LOG(INFO) << "Gravity was: " LOG(INFO) << "Gravity was: "
<< trajectory_data_[trajectory_id].gravity_constant; << trajectory_data_[trajectory_id].gravity_constant;
const auto& imu_calibration =
trajectory_data_[trajectory_id].imu_calibration;
LOG(INFO) << "IMU correction was: " LOG(INFO) << "IMU correction was: "
<< common::RadToDeg( << common::RadToDeg(2. * std::acos(imu_calibration[0]))
2. * << " deg (" << imu_calibration[0] << ", " << imu_calibration[1]
std::acos( << ", " << imu_calibration[2] << ", " << imu_calibration[3]
trajectory_data_[trajectory_id].imu_calibration[0])) << ")";
<< " deg";
} }
} }