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Fixed transformAssociateToMap()
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transformAssociateToMap was buggy, assuming the computation we wanted
to do is:
H_transformToBeMapped = H_transformAftMapped * H_transformBefMapped^-1
* H_transformSum
where H_t represents the 4x4 homogeneous transformation matrix of the
6-D array t
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@haoala
haoala committed Aug 13, 2016
1 parent 402b42e commit c2605be
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Showing 2 changed files with 58 additions and 60 deletions.
56 changes: 27 additions & 29 deletions src/laserMapping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,40 +144,38 @@ void transformAssociateToMap()
float salz = sin(transformAftMapped[2]);
float calz = cos(transformAftMapped[2]);

float srx = -sbcx*(salx*sblx + calx*caly*cblx*cbly + calx*cblx*saly*sbly)
- cbcx*cbcz*(calx*saly*(cbly*sblz - cblz*sblx*sbly)
- calx*caly*(sbly*sblz + cbly*cblz*sblx) + cblx*cblz*salx)
- cbcx*sbcz*(calx*caly*(cblz*sbly - cbly*sblx*sblz)
- calx*saly*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sblz);
float srx = -sbcx*(salx*sblx + calx*cblx*salz*sblz + calx*calz*cblx*cblz)
- cbcx*sbcy*(calx*calz*(cbly*sblz - cblz*sblx*sbly)
- calx*salz*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sbly)
- cbcx*cbcy*(calx*salz*(cblz*sbly - cbly*sblx*sblz)
- calx*calz*(sbly*sblz + cbly*cblz*sblx) + cblx*cbly*salx);
transformTobeMapped[0] = -asin(srx);

float srycrx = (cbcy*sbcz - cbcz*sbcx*sbcy)*(calx*saly*(cbly*sblz - cblz*sblx*sbly)
- calx*caly*(sbly*sblz + cbly*cblz*sblx) + cblx*cblz*salx)
- (cbcy*cbcz + sbcx*sbcy*sbcz)*(calx*caly*(cblz*sbly - cbly*sblx*sblz)
- calx*saly*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sblz)
+ cbcx*sbcy*(salx*sblx + calx*caly*cblx*cbly + calx*cblx*saly*sbly);
float crycrx = (cbcz*sbcy - cbcy*sbcx*sbcz)*(calx*caly*(cblz*sbly - cbly*sblx*sblz)
- calx*saly*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sblz)
- (sbcy*sbcz + cbcy*cbcz*sbcx)*(calx*saly*(cbly*sblz - cblz*sblx*sbly)
- calx*caly*(sbly*sblz + cbly*cblz*sblx) + cblx*cblz*salx)
+ cbcx*cbcy*(salx*sblx + calx*caly*cblx*cbly + calx*cblx*saly*sbly);
float srycrx = sbcx*(cblx*cblz*(caly*salz - calz*salx*saly)
- cblx*sblz*(caly*calz + salx*saly*salz) + calx*saly*sblx)
- cbcx*cbcy*((caly*calz + salx*saly*salz)*(cblz*sbly - cbly*sblx*sblz)
+ (caly*salz - calz*salx*saly)*(sbly*sblz + cbly*cblz*sblx) - calx*cblx*cbly*saly)
+ cbcx*sbcy*((caly*calz + salx*saly*salz)*(cbly*cblz + sblx*sbly*sblz)
+ (caly*salz - calz*salx*saly)*(cbly*sblz - cblz*sblx*sbly) + calx*cblx*saly*sbly);
float crycrx = sbcx*(cblx*sblz*(calz*saly - caly*salx*salz)
- cblx*cblz*(saly*salz + caly*calz*salx) + calx*caly*sblx)
+ cbcx*cbcy*((saly*salz + caly*calz*salx)*(sbly*sblz + cbly*cblz*sblx)
+ (calz*saly - caly*salx*salz)*(cblz*sbly - cbly*sblx*sblz) + calx*caly*cblx*cbly)
- cbcx*sbcy*((saly*salz + caly*calz*salx)*(cbly*sblz - cblz*sblx*sbly)
+ (calz*saly - caly*salx*salz)*(cbly*cblz + sblx*sbly*sblz) - calx*caly*cblx*sbly);
transformTobeMapped[1] = atan2(srycrx / cos(transformTobeMapped[0]),
crycrx / cos(transformTobeMapped[0]));

float srzcrx = sbcx*(cblx*cbly*(calz*saly - caly*salx*salz)
- cblx*sbly*(caly*calz + salx*saly*salz) + calx*salz*sblx)
- cbcx*cbcz*((caly*calz + salx*saly*salz)*(cbly*sblz - cblz*sblx*sbly)
+ (calz*saly - caly*salx*salz)*(sbly*sblz + cbly*cblz*sblx)
- calx*cblx*cblz*salz) + cbcx*sbcz*((caly*calz + salx*saly*salz)*(cbly*cblz
+ sblx*sbly*sblz) + (calz*saly - caly*salx*salz)*(cblz*sbly - cbly*sblx*sblz)
+ calx*cblx*salz*sblz);
float crzcrx = sbcx*(cblx*sbly*(caly*salz - calz*salx*saly)
- cblx*cbly*(saly*salz + caly*calz*salx) + calx*calz*sblx)
+ cbcx*cbcz*((saly*salz + caly*calz*salx)*(sbly*sblz + cbly*cblz*sblx)
+ (caly*salz - calz*salx*saly)*(cbly*sblz - cblz*sblx*sbly)
+ calx*calz*cblx*cblz) - cbcx*sbcz*((saly*salz + caly*calz*salx)*(cblz*sbly
- cbly*sblx*sblz) + (caly*salz - calz*salx*saly)*(cbly*cblz + sblx*sbly*sblz)
- calx*calz*cblx*sblz);
float srzcrx = (cbcz*sbcy - cbcy*sbcx*sbcz)*(calx*salz*(cblz*sbly - cbly*sblx*sblz)
- calx*calz*(sbly*sblz + cbly*cblz*sblx) + cblx*cbly*salx)
- (cbcy*cbcz + sbcx*sbcy*sbcz)*(calx*calz*(cbly*sblz - cblz*sblx*sbly)
- calx*salz*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sbly)
+ cbcx*sbcz*(salx*sblx + calx*cblx*salz*sblz + calx*calz*cblx*cblz);
float crzcrx = (cbcy*sbcz - cbcz*sbcx*sbcy)*(calx*calz*(cbly*sblz - cblz*sblx*sbly)
- calx*salz*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sbly)
- (sbcy*sbcz + cbcy*cbcz*sbcx)*(calx*salz*(cblz*sbly - cbly*sblx*sblz)
- calx*calz*(sbly*sblz + cbly*cblz*sblx) + cblx*cbly*salx)
+ cbcx*cbcz*(salx*sblx + calx*cblx*salz*sblz + calx*calz*cblx*cblz);
transformTobeMapped[2] = atan2(srzcrx / cos(transformTobeMapped[0]),
crzcrx / cos(transformTobeMapped[0]));

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62 changes: 31 additions & 31 deletions src/transformMaintenance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,40 +94,40 @@ void transformAssociateToMap()
float salz = sin(transformAftMapped[2]);
float calz = cos(transformAftMapped[2]);

float srx = -sbcx*(salx*sblx + calx*caly*cblx*cbly + calx*cblx*saly*sbly)
- cbcx*cbcz*(calx*saly*(cbly*sblz - cblz*sblx*sbly)
- calx*caly*(sbly*sblz + cbly*cblz*sblx) + cblx*cblz*salx)
- cbcx*sbcz*(calx*caly*(cblz*sbly - cbly*sblx*sblz)
- calx*saly*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sblz);
float srx = -sbcx*(salx*sblx + calx*cblx*salz*sblz + calx*calz*cblx*cblz)
- cbcx*sbcy*(calx*calz*(cbly*sblz - cblz*sblx*sbly)
- calx*salz*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sbly)
- cbcx*cbcy*(calx*salz*(cblz*sbly - cbly*sblx*sblz)
- calx*calz*(sbly*sblz + cbly*cblz*sblx) + cblx*cbly*salx);
transformMapped[0] = -asin(srx);

float srycrx = (cbcy*sbcz - cbcz*sbcx*sbcy)*(calx*saly*(cbly*sblz - cblz*sblx*sbly)
- calx*caly*(sbly*sblz + cbly*cblz*sblx) + cblx*cblz*salx)
- (cbcy*cbcz + sbcx*sbcy*sbcz)*(calx*caly*(cblz*sbly - cbly*sblx*sblz)
- calx*saly*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sblz)
+ cbcx*sbcy*(salx*sblx + calx*caly*cblx*cbly + calx*cblx*saly*sbly);
float crycrx = (cbcz*sbcy - cbcy*sbcx*sbcz)*(calx*caly*(cblz*sbly - cbly*sblx*sblz)
- calx*saly*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sblz)
- (sbcy*sbcz + cbcy*cbcz*sbcx)*(calx*saly*(cbly*sblz - cblz*sblx*sbly)
- calx*caly*(sbly*sblz + cbly*cblz*sblx) + cblx*cblz*salx)
+ cbcx*cbcy*(salx*sblx + calx*caly*cblx*cbly + calx*cblx*saly*sbly);
transformMapped[1] = atan2(srycrx / cos(transformMapped[0]), crycrx / cos(transformMapped[0]));
float srycrx = sbcx*(cblx*cblz*(caly*salz - calz*salx*saly)
- cblx*sblz*(caly*calz + salx*saly*salz) + calx*saly*sblx)
- cbcx*cbcy*((caly*calz + salx*saly*salz)*(cblz*sbly - cbly*sblx*sblz)
+ (caly*salz - calz*salx*saly)*(sbly*sblz + cbly*cblz*sblx) - calx*cblx*cbly*saly)
+ cbcx*sbcy*((caly*calz + salx*saly*salz)*(cbly*cblz + sblx*sbly*sblz)
+ (caly*salz - calz*salx*saly)*(cbly*sblz - cblz*sblx*sbly) + calx*cblx*saly*sbly);
float crycrx = sbcx*(cblx*sblz*(calz*saly - caly*salx*salz)
- cblx*cblz*(saly*salz + caly*calz*salx) + calx*caly*sblx)
+ cbcx*cbcy*((saly*salz + caly*calz*salx)*(sbly*sblz + cbly*cblz*sblx)
+ (calz*saly - caly*salx*salz)*(cblz*sbly - cbly*sblx*sblz) + calx*caly*cblx*cbly)
- cbcx*sbcy*((saly*salz + caly*calz*salx)*(cbly*sblz - cblz*sblx*sbly)
+ (calz*saly - caly*salx*salz)*(cbly*cblz + sblx*sbly*sblz) - calx*caly*cblx*sbly);
transformMapped[1] = atan2(srycrx / cos(transformMapped[0]),
crycrx / cos(transformMapped[0]));

float srzcrx = sbcx*(cblx*cbly*(calz*saly - caly*salx*salz)
- cblx*sbly*(caly*calz + salx*saly*salz) + calx*salz*sblx)
- cbcx*cbcz*((caly*calz + salx*saly*salz)*(cbly*sblz - cblz*sblx*sbly)
+ (calz*saly - caly*salx*salz)*(sbly*sblz + cbly*cblz*sblx)
- calx*cblx*cblz*salz) + cbcx*sbcz*((caly*calz + salx*saly*salz)*(cbly*cblz
+ sblx*sbly*sblz) + (calz*saly - caly*salx*salz)*(cblz*sbly - cbly*sblx*sblz)
+ calx*cblx*salz*sblz);
float crzcrx = sbcx*(cblx*sbly*(caly*salz - calz*salx*saly)
- cblx*cbly*(saly*salz + caly*calz*salx) + calx*calz*sblx)
+ cbcx*cbcz*((saly*salz + caly*calz*salx)*(sbly*sblz + cbly*cblz*sblx)
+ (caly*salz - calz*salx*saly)*(cbly*sblz - cblz*sblx*sbly)
+ calx*calz*cblx*cblz) - cbcx*sbcz*((saly*salz + caly*calz*salx)*(cblz*sbly
- cbly*sblx*sblz) + (caly*salz - calz*salx*saly)*(cbly*cblz + sblx*sbly*sblz)
- calx*calz*cblx*sblz);
transformMapped[2] = atan2(srzcrx / cos(transformMapped[0]), crzcrx / cos(transformMapped[0]));
float srzcrx = (cbcz*sbcy - cbcy*sbcx*sbcz)*(calx*salz*(cblz*sbly - cbly*sblx*sblz)
- calx*calz*(sbly*sblz + cbly*cblz*sblx) + cblx*cbly*salx)
- (cbcy*cbcz + sbcx*sbcy*sbcz)*(calx*calz*(cbly*sblz - cblz*sblx*sbly)
- calx*salz*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sbly)
+ cbcx*sbcz*(salx*sblx + calx*cblx*salz*sblz + calx*calz*cblx*cblz);
float crzcrx = (cbcy*sbcz - cbcz*sbcx*sbcy)*(calx*calz*(cbly*sblz - cblz*sblx*sbly)
- calx*salz*(cbly*cblz + sblx*sbly*sblz) + cblx*salx*sbly)
- (sbcy*sbcz + cbcy*cbcz*sbcx)*(calx*salz*(cblz*sbly - cbly*sblx*sblz)
- calx*calz*(sbly*sblz + cbly*cblz*sblx) + cblx*cbly*salx)
+ cbcx*cbcz*(salx*sblx + calx*cblx*salz*sblz + calx*calz*cblx*cblz);
transformMapped[2] = atan2(srzcrx / cos(transformMapped[0]),
crzcrx / cos(transformMapped[0]));

x1 = cos(transformMapped[2]) * transformIncre[3] - sin(transformMapped[2]) * transformIncre[4];
y1 = sin(transformMapped[2]) * transformIncre[3] + cos(transformMapped[2]) * transformIncre[4];
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