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Pr/estimate/vo/world offset #593

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Pr/estimate/vo/world offset #593

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77b0b14
[Estimation][VIO] refactor the calculation of the transfrom from the …
tongtybj Feb 16, 2024
a9c5418
[Estimation][VIO] add static tf from the world frame to the vo origin…
tongtybj Feb 16, 2024
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5 changes: 5 additions & 0 deletions aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,11 +37,14 @@

#include <aerial_robot_estimation/sensor/base_plugin.h>
#include <geometry_msgs/Vector3Stamped.h>
#include <geometry_msgs/TransformStamped.h>
#include <kalman_filter/kf_pos_vel_acc_plugin.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/JointState.h>
#include <spinal/ServoControlCmd.h>
#include <std_msgs/Empty.h>
#include <tf2_ros/static_transform_broadcaster.h>


namespace sensor_plugin
{
Expand Down Expand Up @@ -109,6 +112,8 @@ namespace sensor_plugin
double reference_timestamp_;
aerial_robot_msgs::States vo_state_;

tf2_ros::StaticTransformBroadcaster static_broadcaster_; // publish the transfrom between the work and vo frame

void rosParamInit();
void servoControl(const ros::TimerEvent & e);
void estimateProcess();
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44 changes: 27 additions & 17 deletions aerial_robot_estimation/src/sensor/vo.cpp
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Expand Up @@ -238,33 +238,43 @@ namespace sensor_plugin
}
}

/* step1: set the init offset from world to the baselink of UAV from egomotion estimation (e.g. yaw) */
/** ^{w}H_{b} **/
world_offset_tf_.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)[0]));
/** step1: ^{w}H_{b'}, b': level frame of b **/
tf::Transform w_bdash_f(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE)[0]));

tf::Vector3 world_offset_pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
tf::Vector3 baselink_pos = estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::EGOMOTION_ESTIMATE);
if(estimator_->getStateStatus(State::X_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE))
world_offset_tf_.getOrigin().setX(world_offset_pos.x());
w_bdash_f.getOrigin().setX(baselink_pos.x());
if(estimator_->getStateStatus(State::Y_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE))
world_offset_tf_.getOrigin().setY(world_offset_pos.y());
w_bdash_f.getOrigin().setY(baselink_pos.y());
if(estimator_->getStateStatus(State::Z_BASE, aerial_robot_estimation::EGOMOTION_ESTIMATE))
world_offset_tf_.getOrigin().setZ(world_offset_pos.z());
w_bdash_f.getOrigin().setZ(baselink_pos.z());

/* set the init offset from world to the baselink of UAV if we know the ground truth */
/* set the offset if we know the ground truth */
if(estimator_->getStateStatus(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH))
{
world_offset_tf_.setOrigin(estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::GROUND_TRUTH));
world_offset_tf_.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)[0]));

double y, p, r; world_offset_tf_.getBasis().getRPY(r, p, y);
w_bdash_f.setOrigin(estimator_->getPos(Frame::BASELINK, aerial_robot_estimation::GROUND_TRUTH));
w_bdash_f.setRotation(tf::createQuaternionFromYaw(estimator_->getState(State::YAW_BASE, aerial_robot_estimation::GROUND_TRUTH)[0]));
}

/* step2: also consider the offset tf from baselink to sensor */
/** ^{w}H_{b} * ^{b}H_{vo} * ^{vo}H_{w_vo} = ^{w}H_{w_vo} **/
world_offset_tf_ *= (sensor_tf_ * raw_sensor_tf.inverse());
/** step2: ^{vo}H_{b'} **/
tf::Transform vo_bdash_f = raw_sensor_tf * sensor_tf_.inverse(); // ^{vo}H_{b}
double r,p,y;
vo_bdash_f.getBasis().getRPY(r,p,y);
vo_bdash_f.setRotation(tf::createQuaternionFromYaw(y)); // ^{vo}H_{b'}

/** step3: ^{w}H_{vo} = ^{w}H_{b'} * ^{b'}H_{vo} **/
world_offset_tf_ = w_bdash_f * vo_bdash_f.inverse();

/* publish the offset tf if necessary */
geometry_msgs::TransformStamped static_transformStamped;
static_transformStamped.header.stamp = vo_msg->header.stamp;
static_transformStamped.header.frame_id = "world";
static_transformStamped.child_frame_id = vo_msg->header.frame_id;
tf::transformTFToMsg(world_offset_tf_, static_transformStamped.transform);
static_broadcaster_.sendTransform(static_transformStamped);

tf::Vector3 init_pos = w_bdash_f.getOrigin();

//double y, p, r; raw_sensor_tf.getBasis().getRPY(r, p, y);
tf::Vector3 init_pos = (world_offset_tf_ * raw_sensor_tf * sensor_tf_.inverse()).getOrigin();

for(auto& fuser : estimator_->getFuser(aerial_robot_estimation::EGOMOTION_ESTIMATE))
{
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