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Gepetto
aicp_mapping
Commits
d3cecd94
Commit
d3cecd94
authored
Apr 30, 2019
by
Maurice Fallon
Browse files
final commit
parent
747f4802
Changes
2
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aicp_core/include/aicp_registration/aligned_cloud.hpp
View file @
d3cecd94
...
...
@@ -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)
...
...
aicp_core/src/registration/aligned_cloud.cpp
View file @
d3cecd94
...
...
@@ -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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