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vloam_tf.cpp
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vloam_tf.cpp
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#include <vloam_tf/vloam_tf.h>
namespace vloam
{
void VloamTF::init()
{
tf_buffer_ptr = std::make_shared<tf2_ros::Buffer>();
tf_listener = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_ptr);
world_VOT_base_last.setOrigin(tf2::Vector3(0.0, 0.0, 0.0));
world_VOT_base_last.setRotation(tf2::Quaternion(0.0, 0.0, 0.0, 1.0));
world_stamped_VOtf_base.header.frame_id = "map";
world_stamped_VOtf_base.child_frame_id = "base";
world_stamped_VOtf_base.transform = tf2::toMsg(world_VOT_base_last);
}
void VloamTF::processStaticTransform()
{
// initial base to world is static as identity transform
world_stamped_VOtf_base.header.stamp = ros::Time::now();
dynamic_broadcaster.sendTransform(world_stamped_VOtf_base);
imu_stamped_tf_velo = tf_buffer_ptr->lookupTransform("imu_link", "velo_link", ros::Time(0), ros::Duration(3.0));
// NOTE: lookupTransform() will actually block until the transform between the two turtles becomes available (this
// will usually take a few milliseconds)
tf2::fromMsg(imu_stamped_tf_velo.transform, imu_T_velo); // TODO: later use, if not, remove
imu_eigen_T_velo = tf2::transformToEigen(imu_stamped_tf_velo).cast<float>(); // for point cloud util internal use
imu_stamped_tf_velo.header.frame_id = "imu";
imu_stamped_tf_velo.child_frame_id = "velo";
static_broadcaster.sendTransform(imu_stamped_tf_velo);
map_stamped_tf_velo_origin =
tf_buffer_ptr->lookupTransform("base_link", "velo_link", ros::Time(0), ros::Duration(3.0));
map_stamped_tf_velo_origin.header.frame_id = "map";
map_stamped_tf_velo_origin.child_frame_id = "velo_origin";
static_broadcaster.sendTransform(map_stamped_tf_velo_origin);
imu_stamped_tf_cam0 =
tf_buffer_ptr->lookupTransform("imu_link", "camera_gray_left", ros::Time(0), ros::Duration(3.0));
tf2::fromMsg(imu_stamped_tf_cam0.transform, imu_T_cam0); // TODO: later use, if not, remove
imu_eigen_T_cam0 = tf2::transformToEigen(imu_stamped_tf_cam0).cast<float>(); // for point cloud util internal use
imu_stamped_tf_cam0.header.frame_id = "imu";
imu_stamped_tf_cam0.child_frame_id = "cam0";
static_broadcaster.sendTransform(imu_stamped_tf_cam0);
base_stamped_tf_imu = tf_buffer_ptr->lookupTransform("base_link", "imu_link", ros::Time(0), ros::Duration(3.0));
tf2::fromMsg(base_stamped_tf_imu.transform, base_T_imu); // TODO: later use, if not, remove
base_stamped_tf_imu.header.frame_id = "base";
base_stamped_tf_imu.child_frame_id = "imu";
static_broadcaster.sendTransform(base_stamped_tf_imu);
base_T_cam0 = base_T_imu * imu_T_cam0;
velo_T_cam0 = imu_T_velo.inverse() * imu_T_cam0;
}
void VloamTF::VO2VeloAndBase(const tf2::Transform &cam0_curr_VOT_cam0_last)
{
// get T_velo_last^velo_curr (from VO)
velo_last_VOT_velo_curr =
velo_T_cam0 * cam0_curr_VOT_cam0_last.inverse() * velo_T_cam0.inverse(); // odom for velodyne
// get T_base_last^base_curr (from VO)
base_last_VOT_base_curr = base_T_cam0 * cam0_curr_VOT_cam0_last.inverse() * base_T_cam0.inverse();
// get T_world^curr = T_last^curr * T_world^last
geometry_msgs::Transform temp = tf2::toMsg(base_last_VOT_base_curr); // TODO: check better solution
if (!std::isnan(temp.translation.x) and !std::isnan(temp.translation.y) and !std::isnan(temp.translation.z) and
!std::isnan(temp.rotation.x) and !std::isnan(temp.rotation.y) and !std::isnan(temp.rotation.z) and
!std::isnan(temp.rotation.w)) // avoid nan at the first couple steps
world_VOT_base_last *= base_last_VOT_base_curr; // after update, last becomes the curr
world_stamped_VOtf_base.header.stamp = ros::Time::now();
world_stamped_VOtf_base.transform = tf2::toMsg(world_VOT_base_last);
}
void VloamTF::VO2Cam0StartFrame(FILE *VOFilePtr, const int count)
{
if (count < 0)
return;
cam0_init_VOT_cam0_last = base_T_cam0.inverse() * world_VOT_base_last * base_T_cam0;
if (count == 0)
cam0_init_VOT_cam0_start = cam0_init_VOT_cam0_last;
cam0_start_VOT_cam0_last = cam0_init_VOT_cam0_start.inverse() * cam0_init_VOT_cam0_last;
cam0_start_eigen_VOT_cam0_last = tf2::transformToEigen(tf2::toMsg(cam0_start_VOT_cam0_last)).cast<float>();
if (VOFilePtr != NULL)
{
fprintf(VOFilePtr, "%f %f %f %f %f %f %f %f %f %f %f %f\n", cam0_start_eigen_VOT_cam0_last(0, 0),
cam0_start_eigen_VOT_cam0_last(0, 1), cam0_start_eigen_VOT_cam0_last(0, 2),
cam0_start_eigen_VOT_cam0_last(0, 3), cam0_start_eigen_VOT_cam0_last(1, 0),
cam0_start_eigen_VOT_cam0_last(1, 1), cam0_start_eigen_VOT_cam0_last(1, 2),
cam0_start_eigen_VOT_cam0_last(1, 3), cam0_start_eigen_VOT_cam0_last(2, 0),
cam0_start_eigen_VOT_cam0_last(2, 1), cam0_start_eigen_VOT_cam0_last(2, 2),
cam0_start_eigen_VOT_cam0_last(2, 3));
}
}
void VloamTF::LO2Cam0StartFrame(FILE *LOFilePtr, const int count)
{
if (count < 0)
return;
cam0_init_LOT_cam0_last = base_T_cam0.inverse() * world_LOT_base_last * base_T_cam0;
if (count == 0)
cam0_init_LOT_cam0_start = cam0_init_LOT_cam0_last;
cam0_start_LOT_cam0_last = cam0_init_LOT_cam0_start.inverse() * cam0_init_LOT_cam0_last;
cam0_start_eigen_LOT_cam0_last = tf2::transformToEigen(tf2::toMsg(cam0_start_LOT_cam0_last)).cast<float>();
if (LOFilePtr != NULL)
{
fprintf(LOFilePtr, "%f %f %f %f %f %f %f %f %f %f %f %f\n", cam0_start_eigen_LOT_cam0_last(0, 0),
cam0_start_eigen_LOT_cam0_last(0, 1), cam0_start_eigen_LOT_cam0_last(0, 2),
cam0_start_eigen_LOT_cam0_last(0, 3), cam0_start_eigen_LOT_cam0_last(1, 0),
cam0_start_eigen_LOT_cam0_last(1, 1), cam0_start_eigen_LOT_cam0_last(1, 2),
cam0_start_eigen_LOT_cam0_last(1, 3), cam0_start_eigen_LOT_cam0_last(2, 0),
cam0_start_eigen_LOT_cam0_last(2, 1), cam0_start_eigen_LOT_cam0_last(2, 2),
cam0_start_eigen_LOT_cam0_last(2, 3));
}
}
void VloamTF::MO2Cam0StartFrame(FILE *MOFilePtr, const int count)
{
if (count < 0)
return;
cam0_init_MOT_cam0_last = base_T_cam0.inverse() * world_MOT_base_last * base_T_cam0;
if (count == 0)
cam0_init_MOT_cam0_start = cam0_init_MOT_cam0_last;
cam0_start_MOT_cam0_last = cam0_init_MOT_cam0_start.inverse() * cam0_init_MOT_cam0_last;
cam0_start_eigen_MOT_cam0_last = tf2::transformToEigen(tf2::toMsg(cam0_start_MOT_cam0_last)).cast<float>();
if (MOFilePtr != NULL)
{
fprintf(MOFilePtr, "%f %f %f %f %f %f %f %f %f %f %f %f\n", cam0_start_eigen_MOT_cam0_last(0, 0),
cam0_start_eigen_MOT_cam0_last(0, 1), cam0_start_eigen_MOT_cam0_last(0, 2),
cam0_start_eigen_MOT_cam0_last(0, 3), cam0_start_eigen_MOT_cam0_last(1, 0),
cam0_start_eigen_MOT_cam0_last(1, 1), cam0_start_eigen_MOT_cam0_last(1, 2),
cam0_start_eigen_MOT_cam0_last(1, 3), cam0_start_eigen_MOT_cam0_last(2, 0),
cam0_start_eigen_MOT_cam0_last(2, 1), cam0_start_eigen_MOT_cam0_last(2, 2),
cam0_start_eigen_MOT_cam0_last(2, 3));
}
}
} // namespace vloam