IMU.cpp

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/*
Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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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