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Added an odometry prior callback function #1

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Added an odometry prior callback function #1

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fac938b
Added an odometry prior callback function
Mar 12, 2018
7100c36
Merged the odom callbacks into one
Mar 13, 2018
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1 change: 1 addition & 0 deletions manycal/include/manycal/Registrations.h
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,7 @@ class TargetRegistration : public RegistrationBase
ros::Subscriber _odomSub;

ros::Time _lastTime;
bool _enableOdomPrior;
bool _isOdomInitialized;
VelocityIntegratorSE3 _velocityIntegrator;
PoseSE3::CovarianceMatrix _odomOffset;
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32 changes: 24 additions & 8 deletions manycal/src/Registrations.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,12 +38,14 @@ TargetRegistration::TargetRegistration( const std::string& n,
GetParamRequired( ph, "odom_topic", topic );
GetParam( ph, "odom_cov_offset", _odomOffset,
PoseSE3::CovarianceMatrix::Zero() );
GetParam( ph, "enable_odom_prior", _enableOdomPrior, false);

_odomSub = nh.subscribe( topic,
buffLen,
&TargetRegistration::OdometryCallback,
this );
buffLen,
&TargetRegistration::OdometryCallback,
this );
ROS_INFO_STREAM( "Target: " << _name << " subscribing to odometry on "
<< topic );
<< topic );

_poses = std::make_shared<OdomGraphType>( _graph, _optimizePose );
}
Expand Down Expand Up @@ -209,10 +211,24 @@ bool TargetRegistration::IsPoseInitialized( const ros::Time& time ) const

void TargetRegistration::OdometryCallback( const nav_msgs::Odometry::ConstPtr& msg )
{
PoseSE3::TangentVector vel = MsgToTangent( msg->twist.twist );
PoseSE3::CovarianceMatrix cov;
ParseMatrix( msg->twist.covariance, cov ); // TODO Check return?
_velocityIntegrator.BufferInfo( msg->header.stamp.toSec(), vel, cov );
if(_enableOdomPrior)
{
ros::Time time = msg->header.stamp;
PoseSE3 prior = MsgToPose( msg->pose.pose );
PoseSE3::CovarianceMatrix cov;
ParseMatrix ( msg->pose.covariance, cov );

isam::PoseSE3 p = PoseToIsam( prior );
_poses->CreatePrior( time, p, isam::Covariance( cov ) );

}
else
{
PoseSE3::TangentVector vel = MsgToTangent( msg->twist.twist );
PoseSE3::CovarianceMatrix cov;
ParseMatrix( msg->twist.covariance, cov ); // TODO Check return?
_velocityIntegrator.BufferInfo( msg->header.stamp.toSec(), vel, cov );
}
}

ExtrinsicsRegistration::ExtrinsicsRegistration( TargetRegistration& p,
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