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refactored odom's imu init orientation

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matlabbe
2026-10-10 22:12:50 -07:00
parent de1761bd6d
commit 9e27446236
2 changed files with 273 additions and 41 deletions
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corelib/src/Odometry.cpp
+64 -41
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@@ -320,40 +320,47 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
{
UASSERT_MSG(data.id() >= 0, uFormat("Input data should have ID greater or equal than 0 (id=%d)!", data.id()).c_str());
// cache imu data
if(!data.imu().empty() && !this->canProcessAsyncIMU())
if(!data.imu().empty())
{
if(!(data.imu().orientation()[0] == 0.0 && data.imu().orientation()[1] == 0.0 && data.imu().orientation()[2] == 0.0))
if(!this->canProcessAsyncIMU())
{
Transform orientation(0,0,0, data.imu().orientation()[0], data.imu().orientation()[1], data.imu().orientation()[2], data.imu().orientation()[3]);
// orientation includes roll and pitch but not yaw in local transform
Transform imuT = Transform(data.imu().localTransform().x(),data.imu().localTransform().y(),data.imu().localTransform().z(), 0,0,data.imu().localTransform().theta()) *
orientation*
data.imu().localTransform().rotation().inverse();
if( this->getPose().r11() == 1.0f && this->getPose().r22() == 1.0f && this->getPose().r33() == 1.0f &&
this->framesProcessed() == 0)
// cache imu data
if(!(data.imu().orientation()[0] == 0.0 && data.imu().orientation()[1] == 0.0 && data.imu().orientation()[2] == 0.0))
{
Eigen::Quaterniond imuQuat = imuT.getQuaterniond();
Transform previous = this->getPose();
Transform newFramePose = Transform(previous.x(), previous.y(), previous.z(), imuQuat.x(), imuQuat.y(), imuQuat.z(), imuQuat.w());
UWARN("Updated initial pose from %s to %s with IMU orientation", previous.prettyPrint().c_str(), newFramePose.prettyPrint().c_str());
std::map<double, rtabmap::Transform> imus = imus_;
this->reset(newFramePose);
imus_ = imus;
}
Transform orientation(0,0,0, data.imu().orientation()[0], data.imu().orientation()[1], data.imu().orientation()[2], data.imu().orientation()[3]);
// orientation includes roll and pitch but not yaw in local transform
Transform imuT = Transform(data.imu().localTransform().x(),data.imu().localTransform().y(),data.imu().localTransform().z(), 0,0,data.imu().localTransform().theta()) *
orientation*
data.imu().localTransform().rotation().inverse();
imus_.insert(std::make_pair(data.stamp(), imuT));
if(imus_.size() > 1000)
imus_.insert(std::make_pair(data.stamp(), imuT));
if(imus_.size() > 1000)
{
imus_.erase(imus_.begin());
}
imuMotionPredictor_.addImu(data.stamp(), data.imu());
}
else
{
imus_.erase(imus_.begin());
UWARN("Received IMU doesn't have orientation set! It is ignored.");
}
imuMotionPredictor_.addImu(data.stamp(), data.imu());
}
else
// IMU-only update: nothing more to do once the IMU is cached, except for approaches
// processing it themselves. A frame that brings its own features carries no image,
// and a frame whose scene was empty carries no feature either, so neither says
// whether there is a frame at all. The calibration does: it is there when a camera
// produced this data.
if(data.imageRaw().empty() && data.imageCompressed().empty() &&
data.laserScanRaw().isEmpty() && data.laserScanCompressed().isEmpty() &&
data.cameraModels().empty() && data.stereoCameraModels().empty())
{
UWARN("Received IMU doesn't have orientation set! It is ignored.");
if(this->canProcessAsyncIMU())
{
this->computeTransform(data, Transform(), info);
}
return Transform(); // Return null on IMU-only updates
}
}
@@ -598,12 +605,40 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
}
}
// Initial orientation from the IMU at the first frame's own stamp (unless an initial pose
// with a rotation was given). Not from the first IMU sample received, which can be much
// older (e.g., IMU buffered while waiting for the first frame), nor from the newest one,
// which can be after the stamp (lidar deskewing needs IMU up to the end of the sweep).
if(this->framesProcessed() == 0 && !imus_.empty() &&
this->getPose().r11() == 1.0f && this->getPose().r22() == 1.0f && this->getPose().r33() == 1.0f)
{
// Interpolated at the stamp, or the closest sample if the IMU doesn't cover it (e.g.,
// the only sample received is just after the frame)
Transform imuAtStamp = Transform::getTransform(imus_, data.stamp());
if(imuAtStamp.isNull())
{
imuAtStamp = data.stamp() < imus_.begin()->first?imus_.begin()->second:imus_.rbegin()->second;
}
if(!imuAtStamp.isNull())
{
const Eigen::Quaterniond q = imuAtStamp.getQuaterniond();
const Transform previous = this->getPose();
const Transform initialPose(previous.x(), previous.y(), previous.z(), q.x(), q.y(), q.z(), q.w());
UWARN("Updated initial pose from %s to %s with IMU orientation", previous.prettyPrint().c_str(), initialPose.prettyPrint().c_str());
std::map<double, rtabmap::Transform> imus = imus_;
ImuMotionPredictor imuMotionPredictor = imuMotionPredictor_;
this->reset(initialPose);
imus_ = imus;
imuMotionPredictor_ = imuMotionPredictor;
}
}
// KITTI datasets start with stamp=0
double dt = previousStamp_>0.0f || (previousStamp_==0.0f && framesProcessed()==1)?data.stamp() - previousStamp_:0.0;
Transform guess = dt>0.0 && guessFromMotion_ && !velocityGuess_.isNull()?Transform::getIdentity():Transform();
if(!(dt>0.0 || (dt == 0.0 && velocityGuess_.isNull())))
{
if(guessFromMotion_ && (!data.imageRaw().empty() || !data.laserScanRaw().isEmpty()))
if(guessFromMotion_)
{
UERROR("Guess from motion is set but dt is invalid! Odometry is then computed without guess. (dt=%f previous transform=%s)", dt, velocityGuess_.prettyPrint().c_str());
}
@@ -678,7 +713,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UWARN("Could not find imu transform at %f", data.stamp());
}
}
else if(!guess.isNull() && (!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())) {
else if(!guess.isNull()) {
UDEBUG("Using guess from motion %s", guess.prettyPrint().c_str());
}
@@ -859,23 +894,11 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
}
}
}
// A frame that brings its own features carries no image, and a frame whose scene was
// empty carries no feature either, so neither says whether there is a frame at all.
// The calibration does: it is there when a camera produced this data.
else if(!data.imageRaw().empty() ||
!data.cameraModels().empty() ||
!data.stereoCameraModels().empty() ||
!data.laserScanRaw().isEmpty() ||
(this->canProcessAsyncIMU() && !data.imu().empty()))
else
{
t = this->computeTransform(data, guess, info);
}
if(data.imageRaw().empty() && data.laserScanRaw().isEmpty() && !data.imu().empty())
{
return Transform(); // Return null on IMU-only updates
}
if(info)
{
info->timeEstimation = time.ticks();