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fix: apply IMU extrinsic in get_body_cloud / get_body_cloud_down #1

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fix: apply IMU extrinsic in get_body_cloud / get_body_cloud_down #1

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23 changes: 16 additions & 7 deletions src/laserMapping.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,24 +102,33 @@ class LaserMapping
return cloud;
}

/** Return the full undistorted scan in the LiDAR/sensor frame (no world
* registration). */
/** Return the full undistorted scan in the IMU/body frame (LiDAR->IMU
* extrinsic applied; vanilla cloud_registered_body convention). */
PointCloudXYZI::Ptr get_body_cloud() const {
if (!feats_undistort || feats_undistort->empty()) return nullptr;
return PointCloudXYZI::Ptr(new PointCloudXYZI(*feats_undistort));
int size = feats_undistort->points.size();
PointCloudXYZI::Ptr cloud(new PointCloudXYZI(size, 1));
for (int i = 0; i < size; i++)
RGBpointBodyLidarToIMU(&feats_undistort->points[i], &cloud->points[i]);
return cloud;
}

/** Return the IESKF-downsampled scan in the LiDAR/sensor frame. */
/** Return the IESKF-downsampled scan in the IMU/body frame (LiDAR->IMU
* extrinsic applied; vanilla cloud_registered_body convention). */
PointCloudXYZI::Ptr get_body_cloud_down() const {
if (!feats_down_body || feats_down_body->empty()) return nullptr;
return PointCloudXYZI::Ptr(new PointCloudXYZI(*feats_down_body));
int size = feats_down_body->points.size();
PointCloudXYZI::Ptr cloud(new PointCloudXYZI(size, 1));
for (int i = 0; i < size; i++)
RGBpointBodyLidarToIMU(&feats_down_body->points[i], &cloud->points[i]);
return cloud;
}

private:
void pointBodyToWorld_ikfom(PointType const * const pi, PointType * const po, state_ikfom &s);
void pointBodyToWorld(PointType const * const pi, PointType * const po);
void RGBpointBodyToWorld(PointType const * const pi, PointType * const po);
void RGBpointBodyLidarToIMU(PointType const * const pi, PointType * const po);
void RGBpointBodyLidarToIMU(PointType const * const pi, PointType * const po) const;
void points_cache_collect();
void lasermap_fov_segment();
bool sync_packages(MeasureGroup &meas);
Expand Down Expand Up @@ -484,7 +493,7 @@ void LaserMapping::RGBpointBodyToWorld(PointType const * const pi, PointType * c
po->intensity = pi->intensity;
}

void LaserMapping::RGBpointBodyLidarToIMU(PointType const * const pi, PointType * const po)
void LaserMapping::RGBpointBodyLidarToIMU(PointType const * const pi, PointType * const po) const
{
V3D p_body_lidar(pi->x, pi->y, pi->z);
V3D p_body_imu(state_point.offset_R_L_I*p_body_lidar + state_point.offset_T_L_I);
Expand Down