IMU.cpp

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/*
Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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*/
 
 
#include <rtabmap/core/IMU.h>
 
namespace rtabmap {
 
void IMU::convertToBaseFrame()
{
        if(!localTransform_.isNull() && !localTransform_.rotation().isIdentity())
        {
                cv::Mat rotationMatrix, rotationMatrixT;
                localTransform_.rotationMatrix().convertTo(rotationMatrix, CV_64FC1);
                cv::transpose(rotationMatrix, rotationMatrixT);
 
                cv::Mat_<double> v = rotationMatrix * cv::Mat(linearAcceleration_);
                linearAcceleration_ = cv::Vec3d(v(0,0), v(0,1), v(0,2));
                if(!linearAccelerationCovariance_.empty())
                {
                        linearAccelerationCovariance_ = rotationMatrix * linearAccelerationCovariance_ * rotationMatrixT;
                }
 
                v = rotationMatrix * cv::Mat(angularVelocity_);
                angularVelocity_ = cv::Vec3d(v(0,0), v(0,1), v(0,2));
                if(!angularVelocityCovariance_.empty())
                {
                        angularVelocityCovariance_ = rotationMatrix * angularVelocityCovariance_ * rotationMatrixT;
                }
 
                if(!(orientation_[0] == 0.0 && orientation_[1] == 0.0 && orientation_[2] == 0.0))
                {
                        // orientation includes roll and pitch but not yaw in local transform
                        Eigen::Quaterniond qTheta =
                                        Eigen::AngleAxisd(0, Eigen::Vector3d::UnitX()) *
                                        Eigen::AngleAxisd(0, Eigen::Vector3d::UnitY()) *
                                        Eigen::AngleAxisd(localTransform_.theta(), Eigen::Vector3d::UnitZ());
                        Eigen::Quaterniond q = qTheta * Eigen::Quaterniond(orientation_[3], orientation_[0], orientation_[1], orientation_[2]) * localTransform_.getQuaterniond().inverse();
                        orientation_ = cv::Vec4d(q.x(),q.y(),q.z(),q.w());
                        if(!orientationCovariance_.empty())
                        {
                                orientationCovariance_ = rotationMatrix * orientationCovariance_ * rotationMatrixT;
                        }
                }
 
                localTransform_ = Transform(localTransform_.x(), localTransform_.y(), localTransform_.z(), 0,0,0);
        }
}
 
} //namespace rtabmap