Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-sensor-sync-tp10116p10121.html
Based on the current code:
localTransform = baselink@imageStamp -> camlink@imageStamp;
sensorT = baselink@imageStamp -> baselink@odomStamp;
so that final localTransform is
localTransform = sensorT * localTransform;
or
localTransform = baselink@imageStamp -> baselink@odomStamp * baselink@imageStamp -> camlink@imageStamp;
Based on the original
code, it was:
odomT = odom -> baselink@odomStamp;
localTransform = baselink -> camlink@imageStamp;
sensorT = odom -> baselink@imageStamp;
localTransform = odomT.inv() * sensorT * localTransform
or
localTransform = baselink@odomStamp -> odom * odom -> baselink@imageStamp * baselink@imageStamp -> camlink@imageStamp;
or with new code it would translate to:
localTransform = baselink@odomStamp -> baselink@imageStamp * baselink@imageStamp -> camlink@imageStamp;
with odomStamp and stamp inverted like you pointed out
here. That
commit indeed broke it.
I renamed the getTransform() with fixed frame to getMovingTransform() and changed the order of the input stamps in that
commit. So it is inverting the odomStamp and odom implicitly.
I tested odom_sensor_sync in simulation with both images or scans not at the same rate than odom, and it seems to work correctly now.
Thanks to have reported this!
Mathieu