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75 lines
3.2 KiB
C++
75 lines
3.2 KiB
C++
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/*
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Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap/core/IMU.h>
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namespace rtabmap {
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void IMU::convertToBaseFrame()
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{
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if(!localTransform_.isNull() && !localTransform_.rotation().isIdentity())
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{
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cv::Mat rotationMatrix, rotationMatrixT;
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localTransform_.rotationMatrix().convertTo(rotationMatrix, CV_64FC1);
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cv::transpose(rotationMatrix, rotationMatrixT);
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cv::Mat_<double> v = rotationMatrix * cv::Mat(linearAcceleration_);
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linearAcceleration_ = cv::Vec3d(v(0,0), v(0,1), v(0,2));
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if(!linearAccelerationCovariance_.empty())
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{
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linearAccelerationCovariance_ = rotationMatrix * linearAccelerationCovariance_ * rotationMatrixT;
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}
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v = rotationMatrix * cv::Mat(angularVelocity_);
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angularVelocity_ = cv::Vec3d(v(0,0), v(0,1), v(0,2));
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if(!angularVelocityCovariance_.empty())
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{
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angularVelocityCovariance_ = rotationMatrix * angularVelocityCovariance_ * rotationMatrixT;
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}
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if(!(orientation_[0] == 0.0 && orientation_[1] == 0.0 && orientation_[2] == 0.0))
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{
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// orientation includes roll and pitch but not yaw in local transform
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Eigen::Quaterniond qTheta =
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Eigen::AngleAxisd(0, Eigen::Vector3d::UnitX()) *
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Eigen::AngleAxisd(0, Eigen::Vector3d::UnitY()) *
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Eigen::AngleAxisd(localTransform_.theta(), Eigen::Vector3d::UnitZ());
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Eigen::Quaterniond q = qTheta * Eigen::Quaterniond(orientation_[3], orientation_[0], orientation_[1], orientation_[2]) * localTransform_.getQuaterniond().inverse();
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orientation_ = cv::Vec4d(q.x(),q.y(),q.z(),q.w());
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if(!orientationCovariance_.empty())
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{
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orientationCovariance_ = rotationMatrix * orientationCovariance_ * rotationMatrixT;
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}
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}
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localTransform_ = Transform(localTransform_.x(), localTransform_.y(), localTransform_.z(), 0,0,0);
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}
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}
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} //namespace rtabmap
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