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Adjust Global Frame in odometry pipeline #331

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merged 4 commits into from
Apr 19, 2024
Merged

Adjust Global Frame in odometry pipeline #331

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33fecf5
Our API is amazing
tizianoGuadagnino Apr 18, 2024
51b31ef
Make name more consistent
tizianoGuadagnino Apr 18, 2024
0663fb4
Add public setter/getter the Eigen way, so that our beatiful naming of
tizianoGuadagnino Apr 19, 2024
9242cef
Add back
benemer Apr 19, 2024
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8 changes: 8 additions & 0 deletions cpp/kiss_icp/pipeline/KissICP.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,5 +81,13 @@ KissICP::Vector3dVectorTuple KissICP::Voxelize(const std::vector<Eigen::Vector3d
const auto source = kiss_icp::VoxelDownsample(frame_downsample, voxel_size * 1.5);
return {source, frame_downsample};
}
void KissICP::adjustGlobalFrame(const Sophus::SE3d &global_frame_correction) {
last_pose_ = global_frame_correction * last_pose_;
KissICP::Vector3dVector map_points = local_map_.Pointcloud();
local_map_.Clear();
std::transform(map_points.cbegin(), map_points.cend(), map_points.begin(),
[&](const auto &p) { return global_frame_correction * p; });
local_map_.AddPoints(map_points);
}

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} // namespace kiss_icp::pipeline
2 changes: 2 additions & 0 deletions cpp/kiss_icp/pipeline/KissICP.hpp
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Expand Up @@ -75,6 +75,8 @@ class KissICP {
Sophus::SE3d pose() const { return last_pose_; }
Sophus::SE3d delta() const { return last_delta_; }

void adjustGlobalFrame(const Sophus::SE3d &global_frame_correction);

private:
Sophus::SE3d last_pose_;
Sophus::SE3d last_delta_;
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