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autowarefoundation / autoware_ai

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Moving the origin of map frame #496

Closed 4n00815 closed 5 years ago

4n00815 commented 5 years ago

Good Day everyone,

Is there a way to move origin of map frame that was created using ndt_mapping node, with the respect to map? At the moment, origin is at the position where ROSBAG recording started.

Thank you,

Strahinja

mitsudome-r commented 5 years ago

You can move the origin using pcl_transform_point_cloud in pcl-tools. $ sudo apt install pcl-tools $ pcl_transform_point_cloud input.pcd output.pcd -trans dx,dy,dz -quat w,x,y,z

If you want to know details about options do
$ pcl_transform_point_cloud -h

4n00815 commented 5 years ago

Thanks you for your reply. I tried to use package that you suggested, but I keep getting this message:

pcl_transform_point_cloud 6-17.pcd 6-17new.pcd -trans 11672.0970008, 10145.1109782, 99.931 -quat 0.997921317917, 0.0, 0.0, -0.0644441094796

[parse_3x_arguments] Number of values for -trans (2) different than 3! Wrong number of values given (2): The quaternion specified with -quat must contain 4 elements (w,x,y,z).

I think I'm passing the right number of arguments?

mitsudome-r commented 5 years ago

You might need to remove space between the numbers. pcl_transform_point_cloud 6-17.pcd 6-17new.pcd -trans 11672.0970008,10145.1109782,99.931 -quat 0.997921317917,0.0,0.0,-0.0644441094796

4n00815 commented 5 years ago

You are right! Thanks a lot!

HHF111 commented 4 years ago

@mitsudome-r @4n00815 Thanks for sharing. Could you please introduce a bit how you calculate -quat w, x, y,z the four parameters here to align PCD map to UTM coordinate? Thanks!

Pallav1299 commented 4 years ago

@mitsudome-r @4n00815 Thanks for sharing. Could you please introduce a bit how you calculate -quat w, x, y,z the four parameters here to align PCD map to UTM coordinate? Thanks!

These represent the initial orientation at the vehicle start position. The pointcloud does not include this orientation data until and unless you give it as an input before mapping, considering you are using NDT mapping. So the main motive is to transform this pointcloud to that initial position and orientation.

This "quat w, x, y,z" value i.e. the orientation will generally come from an IMU. The first orientation value that you receive from it.