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Update behavior of Odom/AlignWithGround when odmetry is already aligned with gravity (just update z value).

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matlabbe
2024-06-15 17:24:00 -07:00
parent 28fd696c18
commit 0d221a806f
1 changed files with 22 additions and 6 deletions
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28
corelib/src/Odometry.cpp
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@@ -491,7 +491,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
}
// Ground alignment
if(_pose.isIdentity() && _alignWithGround)
if(_pose.x() == 0 && _pose.y() == 0 && _pose.z() == 0 && this->framesProcessed() == 0 && _alignWithGround)
{
if(data.depthOrRightRaw().empty())
{
@@ -507,6 +507,11 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
if(indices->size())
{
cloud = util3d::voxelize(cloud, indices, 0.01);
if(!_pose.isIdentity())
{
// In case we are already aligned with gravity
cloud = util3d::transformPointCloud(cloud, _pose);
}
util3d::segmentObstaclesFromGround<pcl::PointXYZ>(cloud, ground, obstacles, 20, M_PI/4.0f, 0.02, 200, true);
if(ground->size())
{
@@ -535,11 +540,22 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
//get rotation from z to n;
Eigen::Matrix3f R;
R = Eigen::Quaternionf().setFromTwoVectors(n,z);
Transform rotation(
R(0,0), R(0,1), R(0,2), 0,
R(1,0), R(1,1), R(1,2), 0,
R(2,0), R(2,1), R(2,2), coefficients.values.at(3));
this->reset(rotation);
if(_pose.r11() == 1.0f && _pose.r22() == 1.0f && _pose.r33() == 1.0f)
{
Transform rotation(
R(0,0), R(0,1), R(0,2), 0,
R(1,0), R(1,1), R(1,2), 0,
R(2,0), R(2,1), R(2,2), coefficients.values.at(3));
this->reset(rotation);
}
else
{
// Rotation is already set (e.g., from IMU/gravity), just update Z
UWARN("Rotation was already initialized, just offseting z to %f", coefficients.values.at(3));
Transform pose = _pose;
pose.z() = coefficients.values.at(3);
this->reset(pose);
}
success = true;
}
}