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OdometryF2M: refactored imu buffer

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matlabbe
2020-05-31 14:33:20 -04:00
parent caffb56246
commit c7be9a23ee
4 changed files with 43 additions and 46 deletions
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corelib/src/Odometry.cpp
+24 -14
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@@ -186,7 +186,6 @@ Odometry::~Odometry()
{
delete particleFilters_[i];
}
particleFilters_.clear();
}
void Odometry::reset(const Transform & initialPose)
@@ -200,6 +199,7 @@ void Odometry::reset(const Transform & initialPose)
distanceTravelled_ = 0;
framesProcessed_ = 0;
imuLastTransform_.setNull();
imus_.clear();
if(_force3DoF || particleFilters_.size())
{
float x,y,z, roll,pitch,yaw;
@@ -383,6 +383,21 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
}
}
// cache imu data
if(!data.imu().empty())
{
if(!(data.imu().orientation()[0] == 0.0 && data.imu().orientation()[1] == 0.0 && data.imu().orientation()[2] == 0.0))
{
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
imus_.insert(std::make_pair(data.stamp(), Transform(0,0,data.imu().localTransform().theta()) * orientation*data.imu().localTransform().inverse()));
if(imus_.size() > 1000)
{
imus_.erase(imus_.begin());
}
}
}
// 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();
@@ -429,22 +444,17 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
{
guess = guessIn;
}
else if(!data.imu().empty())
else if(!data.imu().empty() && !imus_.empty())
{
// replace orientation guess with IMU (if available)
if(!(data.imu().orientation()[0] == 0.0 && data.imu().orientation()[1] == 0.0 && data.imu().orientation()[2] == 0.0))
imuCurrentTransform = Transform::getTransform(imus_, data.stamp());
if(!imuCurrentTransform.isNull() && !imuLastTransform_.isNull())
{
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
imuCurrentTransform = Transform(0,0,data.imu().localTransform().theta()) * orientation*data.imu().localTransform().inverse();
if(!imuLastTransform_.isNull())
{
orientation = imuLastTransform_.inverse() * imuCurrentTransform;
guess = Transform(
orientation.r11(), orientation.r12(), orientation.r13(), guess.x(),
orientation.r21(), orientation.r22(), orientation.r23(), guess.y(),
orientation.r31(), orientation.r32(), orientation.r33(), guess.z());
}
Transform orientation = imuLastTransform_.inverse() * imuCurrentTransform;
guess = Transform(
orientation.r11(), orientation.r12(), orientation.r13(), guess.x(),
orientation.r21(), orientation.r22(), orientation.r23(), guess.y(),
orientation.r31(), orientation.r32(), orientation.r33(), guess.z());
}
}