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fix(ros): fixed bug of imu align for part of device

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This commit is contained in:
Osenberg 2019-04-11 18:15:58 +08:00
parent 06e8e28b71
commit 9a13909de2
1 changed files with 95 additions and 102 deletions
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123
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -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;
@ -918,84 +920,75 @@ 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_;
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;
ros::Time stamp = checkUpImuTimeStamp(imu_accel_->timestamp);
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_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.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;
@ -1010,9 +1003,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
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.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;
@ -1028,11 +1021,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
pub_imu_.publish(msg);
publishTemperature(imu_accel_->temperature, imu_sync_count_, stamp);
publishTemperature(imu_align_[i].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