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feat(ndt_scan_matcher): change coordinate of output_pose_covariance #6065

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merged 4 commits into from
Jan 16, 2024
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feat(ndt_scan_matcher): change coordinate of output_pose_covariance #6065

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1771792
feat(ndt_scan_matcher): change coordinate of output_pose_covariance
YamatoAndo Jan 12, 2024
9070fb2
style(pre-commit): autofix
pre-commit-ci[bot] Jan 12, 2024
40e3173
Update localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
YamatoAndo Jan 15, 2024
39fc9d3
style(pre-commit): autofix
pre-commit-ci[bot] Jan 15, 2024
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2 changes: 2 additions & 0 deletions localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,8 @@ class NDTScanMatcher : public rclcpp::Node
const double & transform_probability, const double & nearest_voxel_transformation_likelihood);
static int count_oscillation(const std::vector<geometry_msgs::msg::Pose> & result_pose_msg_array);

std::array<double, 36> rotate_covariance(
const std::array<double, 36> & src_covariance, const Eigen::Matrix3d & rotation) const;
std::array<double, 36> estimate_covariance(
const pclomp::NdtResult & ndt_result, const Eigen::Matrix4f & initial_pose_matrix,
const rclcpp::Time & sensor_ros_time);
Expand Down
32 changes: 31 additions & 1 deletion localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -486,7 +486,15 @@
}

// covariance estimation
std::array<double, 36> ndt_covariance = output_pose_covariance_;
const Eigen::Quaterniond map_to_base_link_quat = Eigen::Quaterniond(
result_pose_msg.orientation.w, result_pose_msg.orientation.x, result_pose_msg.orientation.y,
result_pose_msg.orientation.z);
const Eigen::Matrix3d map_to_base_link_rotation =
map_to_base_link_quat.normalized().toRotationMatrix();

std::array<double, 36> ndt_covariance =
rotate_covariance(output_pose_covariance_, map_to_base_link_rotation);

Check warning on line 497 in localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

NDTScanMatcher::callback_sensor_points already has high cyclomatic complexity, and now it increases in Lines of Code from 137 to 143. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
if (is_converged && use_cov_estimation_) {
const auto estimated_covariance =
estimate_covariance(ndt_result, initial_pose_matrix, sensor_ros_time);
Expand Down Expand Up @@ -766,6 +774,28 @@
return max_oscillation_cnt;
}

std::array<double, 36> NDTScanMatcher::rotate_covariance(
const std::array<double, 36> & src_covariance, const Eigen::Matrix3d & rotation) const
{
std::array<double, 36> ret_covariance = src_covariance;

Eigen::Matrix3d src_cov;
src_cov << src_covariance[0], src_covariance[1], src_covariance[2], src_covariance[6],
src_covariance[7], src_covariance[8], src_covariance[12], src_covariance[13],
src_covariance[14];

Eigen::Matrix3d ret_cov;
ret_cov = rotation * src_cov * rotation.transpose();

for (Eigen::Index i = 0; i < 3; ++i) {
ret_covariance[i] = ret_cov(0, i);
ret_covariance[i + 6] = ret_cov(1, i);
ret_covariance[i + 12] = ret_cov(2, i);
}

return ret_covariance;
}

std::array<double, 36> NDTScanMatcher::estimate_covariance(
const pclomp::NdtResult & ndt_result, const Eigen::Matrix4f & initial_pose_matrix,
const rclcpp::Time & sensor_ros_time)
Expand Down
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