Commit d3cecd94 authored by Maurice Fallon's avatar Maurice Fallon
Browse files

final commit

parent 747f4802
......@@ -56,7 +56,7 @@ private:
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_; // Cloud (pre-filtered and global coordinates)
Eigen::Isometry3d world_to_cloud_odom_; // odom to base: world -> cloud (global coordinates)
Eigen::Isometry3d world_to_cloud_odom_; // odom to base: world -> cloud (global coordinates). this is the unmodified input.
Eigen::Isometry3d world_to_cloud_prior_; // cloud pose prior: world -> cloud (global coordinates)
Eigen::Isometry3d cloud_to_reference_; // relative transform: cloud -> reference (global coordinates)
......
......@@ -10,7 +10,7 @@ AlignedCloud::AlignedCloud(int64_t utime,
utime_ = utime;
cloud_ = cloud;
world_to_cloud_odom_ = prior_pose; // prior pose (not updated else where)
world_to_cloud_odom_ = prior_pose; // prior pose. This is the original odom-to-base and is not updated elsewhere
world_to_cloud_prior_ = prior_pose; // prior pose
cloud_to_reference_ = Eigen::Isometry3d::Identity(); // correction
......@@ -25,9 +25,9 @@ AlignedCloud::~AlignedCloud()
}
// Take the roll and pitch from the odom and use it to replace the icp estimate roll and pitch
// Take the roll and pitch from the odom and use it to replace the roll and pitch estimated by ICP
// this is to ensure gravity consistency
// TODO: the cloud_to_reference_ is now inconsistent with these two frames.
// TODO: the cloud_to_reference_ is currently inconsistent with these two frames.
void AlignedCloud::removePitchRollCorrection()
{
Eigen::Quaterniond q_odom = Eigen::Quaterniond(world_to_cloud_odom_.rotation());
......
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