From edfd6ac8d7dcfe7a1cd2993ba4360ce6ca8a3e24 Mon Sep 17 00:00:00 2001 From: Damon Kohler Date: Mon, 21 Aug 2017 17:26:48 +0200 Subject: [PATCH] Also log the IMU correction as a quaternion. (#463) --- .../sparse_pose_graph/optimization_problem.cc | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc index ffeac7b..2b021d6 100644 --- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc +++ b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc @@ -290,12 +290,13 @@ void OptimizationProblem::Solve(const std::vector& constraints, } LOG(INFO) << "Gravity was: " << trajectory_data_[trajectory_id].gravity_constant; + const auto& imu_calibration = + trajectory_data_[trajectory_id].imu_calibration; LOG(INFO) << "IMU correction was: " - << common::RadToDeg( - 2. * - std::acos( - trajectory_data_[trajectory_id].imu_calibration[0])) - << " deg"; + << common::RadToDeg(2. * std::acos(imu_calibration[0])) + << " deg (" << imu_calibration[0] << ", " << imu_calibration[1] + << ", " << imu_calibration[2] << ", " << imu_calibration[3] + << ")"; } }