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Fix: Improve IMU extrinsic handling with ACCEL/GYRO fallback

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This commit is contained in:
xiexun
2025-08-05 22:07:20 +08:00
parent 9d4e270e9b
commit 414c145f83
1 changed files with 38 additions and 3 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+38 -3
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@@ -1007,11 +1007,46 @@ void OBLidarNode::calcAndPublishStaticTransform() {
static const char *frame_id = "lidar_to_imu_extrinsics";
OBExtrinsic ex;
try {
// Try to get extrinsic from ACCEL first
ex = base_stream_profile->getExtrinsicTo(stream_profile_[ACCEL]);
// Verify if GYRO has the same extrinsic (they should be identical for the same IMU)
try {
auto gyro_ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
// Check if ACCEL and GYRO extrinsics are identical
bool extrinsics_match = true;
for (int i = 0; i < 9; i++) {
if (std::abs(ex.rot[i] - gyro_ex.rot[i]) > 1e-6) {
extrinsics_match = false;
break;
}
}
for (int i = 0; i < 3; i++) {
if (std::abs(ex.trans[i] - gyro_ex.trans[i]) > 1e-6) {
extrinsics_match = false;
break;
}
}
if (!extrinsics_match) {
RCLCPP_WARN_STREAM(logger_, "ACCEL and GYRO have different extrinsics, using ACCEL");
} else {
RCLCPP_DEBUG_STREAM(logger_, "ACCEL and GYRO extrinsics are identical");
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Could not get GYRO extrinsic for verification: " << e.getMessage());
}
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic: " << e.getMessage());
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
RCLCPP_WARN_STREAM(logger_, "Failed to get ACCEL extrinsic, trying GYRO: " << e.getMessage());
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
RCLCPP_INFO_STREAM(logger_, "Using GYRO extrinsic for IMU");
} catch (const ob::Error &e2) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic from both ACCEL and GYRO: " << e2.getMessage());
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
}
lidar_to_imu_extrinsic_ = ex;
auto ex_msg = obExtrinsicsToMsg(ex, frame_id);