fix(ros): fixed bug of imu align for part of device
n
This commit is contained in:
Osenberg
parent
06e8e28b71
commit
9a13909de2
|
|
@ -46,6 +46,8 @@ using namespace configuru; // NOLINT
|
|||
#define FULL_PRECISION \
|
||||
std::fixed << std::setprecision(std::numeric_limits<double>::max_digits10)
|
||||
|
||||
static const std::size_t MAXSIZE = 4;
|
||||
|
||||
MYNTEYE_BEGIN_NAMESPACE
|
||||
|
||||
namespace enc = sensor_msgs::image_encodings;
|
||||
|
|
@ -918,121 +920,111 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
}
|
||||
|
||||
void timestampAlign() {
|
||||
static bool get_first_acc = false;
|
||||
static bool get_first_gyro = false;
|
||||
static bool has_gyro = false;
|
||||
static ImuData acc;
|
||||
static ImuData gyro;
|
||||
|
||||
if (!get_first_acc && imu_accel_ != nullptr) {
|
||||
acc = *imu_accel_;
|
||||
imu_accel_ = nullptr;
|
||||
get_first_acc = true;
|
||||
return;
|
||||
}
|
||||
|
||||
if (!get_first_gyro && imu_gyro_ != nullptr) {
|
||||
gyro = *imu_gyro_;
|
||||
imu_gyro_ = nullptr;
|
||||
get_first_gyro = true;
|
||||
return;
|
||||
}
|
||||
static std::vector<ImuData> acc_buf;
|
||||
static std::vector<ImuData> gyro_buf;
|
||||
|
||||
if (imu_accel_ != nullptr) {
|
||||
if (!has_gyro) {
|
||||
acc = *imu_accel_;
|
||||
imu_accel_ = nullptr;
|
||||
return;
|
||||
}
|
||||
|
||||
if (acc.timestamp <= gyro.timestamp) {
|
||||
ImuData acc_temp;
|
||||
acc_temp = *imu_accel_;
|
||||
acc_temp.timestamp = gyro.timestamp;
|
||||
|
||||
double k = static_cast<double>(imu_accel_->timestamp - acc.timestamp);
|
||||
k = static_cast<double>(gyro.timestamp - acc.timestamp) / k;
|
||||
|
||||
acc_temp.accel[0] = acc.accel[0] +
|
||||
(imu_accel_->accel[0] - acc.accel[0]) * k;
|
||||
acc_temp.accel[1] = acc.accel[1] +
|
||||
(imu_accel_->accel[1] - acc.accel[1]) * k;
|
||||
acc_temp.accel[2] = acc.accel[2] +
|
||||
(imu_accel_->accel[2] - acc.accel[2]) * k;
|
||||
|
||||
acc = *imu_accel_;
|
||||
*imu_accel_ = acc_temp;
|
||||
imu_gyro_.reset(new ImuData(gyro));
|
||||
has_gyro = false;
|
||||
return;
|
||||
} else {
|
||||
acc = *imu_accel_;
|
||||
imu_accel_ = nullptr;
|
||||
return;
|
||||
}
|
||||
acc_buf.push_back(*imu_accel_);
|
||||
}
|
||||
|
||||
if (imu_gyro_ != nullptr) {
|
||||
has_gyro = true;
|
||||
gyro = *imu_gyro_;
|
||||
imu_gyro_ = nullptr;
|
||||
gyro_buf.push_back(*imu_gyro_);
|
||||
}
|
||||
|
||||
imu_accel_ = nullptr;
|
||||
imu_gyro_ = nullptr;
|
||||
|
||||
imu_align_.clear();
|
||||
|
||||
if (acc_buf.empty() || gyro_buf.empty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
ImuData imu_temp;
|
||||
auto itg = gyro_buf.end();
|
||||
auto ita = acc_buf.end();
|
||||
for (auto it_gyro = gyro_buf.begin();
|
||||
it_gyro != gyro_buf.end(); it_gyro++) {
|
||||
for (auto it_acc = acc_buf.begin();
|
||||
it_acc+1 != acc_buf.end(); it_acc++) {
|
||||
if (it_gyro->timestamp >= it_acc->timestamp
|
||||
&& it_gyro->timestamp <= (it_acc+1)->timestamp) {
|
||||
double k = static_cast<double>((it_acc+1)->timestamp - it_acc->timestamp);
|
||||
k = static_cast<double>(it_gyro->timestamp - it_acc->timestamp) / k;
|
||||
|
||||
imu_temp = *it_gyro;
|
||||
imu_temp.accel[0] = it_acc->accel[0] + ((it_acc+1)->accel[0] - it_acc->accel[0]) * k;
|
||||
imu_temp.accel[1] = it_acc->accel[1] + ((it_acc+1)->accel[1] - it_acc->accel[1]) * k;
|
||||
imu_temp.accel[2] = it_acc->accel[2] + ((it_acc+1)->accel[2] - it_acc->accel[2]) * k;
|
||||
|
||||
imu_align_.push_back(imu_temp);
|
||||
|
||||
itg = it_gyro;
|
||||
ita = it_acc;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (itg != gyro_buf.end()) {
|
||||
gyro_buf.erase(gyro_buf.begin(), itg + 1);
|
||||
}
|
||||
|
||||
if (ita != acc_buf.end()) {
|
||||
acc_buf.erase(acc_buf.begin(), ita);
|
||||
}
|
||||
}
|
||||
|
||||
void publishImuBySync() {
|
||||
timestampAlign();
|
||||
|
||||
if (imu_accel_ == nullptr || imu_gyro_ == nullptr) {
|
||||
return;
|
||||
for (int i = 0; i < imu_align_.size(); i++) {
|
||||
sensor_msgs::Imu msg;
|
||||
|
||||
msg.header.seq = imu_sync_count_;
|
||||
ros::Time stamp = checkUpImuTimeStamp(imu_align_[i].timestamp);
|
||||
msg.header.stamp = stamp;
|
||||
msg.header.frame_id = imu_frame_id_;
|
||||
|
||||
// acceleration should be in m/s^2 (not in g's)
|
||||
msg.linear_acceleration.x = imu_align_[i].accel[0] * gravity_;
|
||||
msg.linear_acceleration.y = imu_align_[i].accel[1] * gravity_;
|
||||
msg.linear_acceleration.z = imu_align_[i].accel[2] * gravity_;
|
||||
|
||||
msg.linear_acceleration_covariance[0] = 0;
|
||||
msg.linear_acceleration_covariance[1] = 0;
|
||||
msg.linear_acceleration_covariance[2] = 0;
|
||||
|
||||
msg.linear_acceleration_covariance[3] = 0;
|
||||
msg.linear_acceleration_covariance[4] = 0;
|
||||
msg.linear_acceleration_covariance[5] = 0;
|
||||
|
||||
msg.linear_acceleration_covariance[6] = 0;
|
||||
msg.linear_acceleration_covariance[7] = 0;
|
||||
msg.linear_acceleration_covariance[8] = 0;
|
||||
|
||||
// velocity should be in rad/sec
|
||||
msg.angular_velocity.x = imu_align_[i].gyro[0] * M_PI / 180;
|
||||
msg.angular_velocity.y = imu_align_[i].gyro[1] * M_PI / 180;
|
||||
msg.angular_velocity.z = imu_align_[i].gyro[2] * M_PI / 180;
|
||||
|
||||
msg.angular_velocity_covariance[0] = 0;
|
||||
msg.angular_velocity_covariance[1] = 0;
|
||||
msg.angular_velocity_covariance[2] = 0;
|
||||
|
||||
msg.angular_velocity_covariance[3] = 0;
|
||||
msg.angular_velocity_covariance[4] = 0;
|
||||
msg.angular_velocity_covariance[5] = 0;
|
||||
|
||||
msg.angular_velocity_covariance[6] = 0;
|
||||
msg.angular_velocity_covariance[7] = 0;
|
||||
msg.angular_velocity_covariance[8] = 0;
|
||||
|
||||
pub_imu_.publish(msg);
|
||||
|
||||
publishTemperature(imu_align_[i].temperature, imu_sync_count_, stamp);
|
||||
|
||||
++imu_sync_count_;
|
||||
}
|
||||
sensor_msgs::Imu msg;
|
||||
ros::Time stamp = checkUpImuTimeStamp(imu_accel_->timestamp);
|
||||
msg.header.seq = imu_sync_count_;
|
||||
msg.header.stamp = stamp;
|
||||
msg.header.frame_id = imu_frame_id_;
|
||||
|
||||
// acceleration should be in m/s^2 (not in g's)
|
||||
msg.linear_acceleration.x = imu_accel_->accel[0] * gravity_;
|
||||
msg.linear_acceleration.y = imu_accel_->accel[1] * gravity_;
|
||||
msg.linear_acceleration.z = imu_accel_->accel[2] * gravity_;
|
||||
|
||||
msg.linear_acceleration_covariance[0] = 0;
|
||||
msg.linear_acceleration_covariance[1] = 0;
|
||||
msg.linear_acceleration_covariance[2] = 0;
|
||||
|
||||
msg.linear_acceleration_covariance[3] = 0;
|
||||
msg.linear_acceleration_covariance[4] = 0;
|
||||
msg.linear_acceleration_covariance[5] = 0;
|
||||
|
||||
msg.linear_acceleration_covariance[6] = 0;
|
||||
msg.linear_acceleration_covariance[7] = 0;
|
||||
msg.linear_acceleration_covariance[8] = 0;
|
||||
|
||||
// velocity should be in rad/sec
|
||||
msg.angular_velocity.x = imu_gyro_->gyro[0] * M_PI / 180;
|
||||
msg.angular_velocity.y = imu_gyro_->gyro[1] * M_PI / 180;
|
||||
msg.angular_velocity.z = imu_gyro_->gyro[2] * M_PI / 180;
|
||||
|
||||
msg.angular_velocity_covariance[0] = 0;
|
||||
msg.angular_velocity_covariance[1] = 0;
|
||||
msg.angular_velocity_covariance[2] = 0;
|
||||
|
||||
msg.angular_velocity_covariance[3] = 0;
|
||||
msg.angular_velocity_covariance[4] = 0;
|
||||
msg.angular_velocity_covariance[5] = 0;
|
||||
|
||||
msg.angular_velocity_covariance[6] = 0;
|
||||
msg.angular_velocity_covariance[7] = 0;
|
||||
msg.angular_velocity_covariance[8] = 0;
|
||||
|
||||
pub_imu_.publish(msg);
|
||||
|
||||
publishTemperature(imu_accel_->temperature, imu_sync_count_, stamp);
|
||||
|
||||
++imu_sync_count_;
|
||||
imu_accel_ = nullptr;
|
||||
imu_gyro_ = nullptr;
|
||||
}
|
||||
|
||||
void publishTemperature(
|
||||
|
|
@ -1586,6 +1578,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
|||
bool is_started_;
|
||||
int frame_rate_;
|
||||
bool is_intrinsics_enable_;
|
||||
std::vector<ImuData> imu_align_;
|
||||
};
|
||||
|
||||
MYNTEYE_END_NAMESPACE
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user