kennyjchen
commented
2 years ago Hi @numb0824 -- thanks for your interest in our work. We've added a feature to initialize DLO with a known initial pose in v1.1.0. Please set the initialPose parameter in cfg/params.yaml to true with your desired initial pose. Note that this will disable the gravity alignment procedure.
numb0824
Hi, thanks for your team's great work.And i have tested it with my own bag, the result is very close for my ground truth. There is a request that i want to set the initial pose ,such as (100,100,0,0,0,1,0.026). But it didn't work,the "robot/dlo/odom" has always begin with (0,0,0,0,0,0,1). I just changed the code in "odom.cc",which is: " this->odom.pose.pose.position.x = 3972.02; this->odom.pose.pose.position.y = 3497.76; this->odom.pose.pose.position.z = 0; this->odom.pose.pose.orientation.w = 0.026; this->odom.pose.pose.orientation.x = 0.; this->odom.pose.pose.orientation.y = 0.; this->odom.pose.pose.orientation.z = 1; this->odom.pose.covariance = {0.};
/ this->odom.pose.pose.position.x = 0.; this->odom.pose.pose.position.y = 0.; this->odom.pose.pose.position.z = 0.; this->odom.pose.pose.orientation.w = 1.; this->odom.pose.pose.orientation.x = 0.; this->odom.pose.pose.orientation.y = 0.; this->odom.pose.pose.orientation.z = 0.; this->odom.pose.covariance = {0.}; / this->T = Eigen::Matrix4f::Identity(); this->T_s2s = Eigen::Matrix4f::Identity(); this->T_s2s_prev = Eigen::Matrix4f::Identity();
this->pose_s2s = Eigen::Vector3f(0., 0., 0.); this->rotq_s2s = Eigen::Quaternionf(1., 0., 0., 0.);
//this->pose = Eigen::Vector3f(0., 0., 0.); this->pose = Eigen::Vector3f(3972.02, 3497.76, 0.); //this->rotq = Eigen::Quaternionf(1., 0., 0., 0.); this->rotq = Eigen::Quaternionf(0.026, 0., 0., 0.); " I would really appreciate it if someone could help me.