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Ouster SDK integration

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matlabbe
2024-08-17 18:23:20 -07:00
parent 20734cade9
commit b44dd537a7
12 changed files with 842 additions and 38 deletions
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examples/LidarMapping/MapBuilder.h
+13
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@@ -190,9 +190,21 @@ protected Q_SLOTS:
{
// update camera position
cloudViewer_->updateCameraTargetPosition(odometryCorrection_*odom.pose());
if( odom.data().imu().orientation().val[0]!=0 ||
odom.data().imu().orientation().val[1]!=0 ||
odom.data().imu().orientation().val[2]!=0 ||
odom.data().imu().orientation().val[3]!=0)
{
Eigen::Vector3f gravity(0,0,-1);
Transform orientation(0,0,0, odom.data().imu().orientation()[0], odom.data().imu().orientation()[1], odom.data().imu().orientation()[2], odom.data().imu().orientation()[3]);
gravity = (orientation* odom.data().imu().localTransform().inverse()*(odometryCorrection_*odom.pose()).rotation().inverse()).toEigen3f()*gravity;
cloudViewer_->addOrUpdateLine("odom_imu_orientation", odometryCorrection_*odom.pose(), (odometryCorrection_*odom.pose()).translation()*Transform(gravity[0], gravity[1], gravity[2], 0, 0, 0)*odom.pose().rotation().inverse(), Qt::yellow, true, true);
}
}
}
cloudViewer_->update();
cloudViewer_->refreshView();
lastOdometryProcessed_ = true;
}
@@ -295,6 +307,7 @@ protected Q_SLOTS:
odometryCorrection_ = stats.mapCorrection();
cloudViewer_->update();
cloudViewer_->refreshView();
processingStatistics_ = false;
}