Orientation Issue in Elevation Mapping about elevation_mapping HOT 9 CLOSED

I have the same problem. The Orientation align with the initial orientation, so the current submap is not align with current base?

from elevation_mapping.

I have the same problem. The Orientation align with the initial orientation, so the current submap is not align with current base?

Have you solve the problem? I try to revise the frameId, but it doesn't work. And I guess that the setting of grid map maybe cause the problem.

from elevation_mapping.

I believe it is because of the code's own configuration that requires the map to have the same orientation as the initial direction. You can take a look at the 'grid_map' repository, where the method for obtaining subregions does not include direction transformation.

from elevation_mapping.

I have a solution to this problem. You can use lineIterator to get a tilted submap aligned with the current orient of your vehicle.

from elevation_mapping.

Thank you! Could you provide a more detailed description of your strategy? Here are my views and proposed solutions.I believe the issue is caused by incorrect calculation of the transformation matrix (tf) on my part. I used a combination navigation system to calculate the pose transformation of the vehicle, but I did not compensate for the heading angle. When I attempted to compensate for the heading angle, the orientation became correct, but the height values in the map were incorrect. I am working to resolve this issue. I think there are two possible ways to address this problem: 1. Utilize other sensors and methods to obtain the pose, such as when I use an IMU, this issue does not occur. 2. Refactor the code and use the grid_map library to build the elevation map myself. I discovered that it is based on map-based descriptions, can describe the current frame point cloud, and consider information from adjacent frames. Of course, this strategy of trading space for time can reduce processing time. The core of its code is to calculate the elevation information of the grid through Mahalanobis distance, and we can also use its move function when refactoring our code.

from elevation_mapping.

from elevation_mapping.

I've solved my problem, thanks for everyone's help. If your lidar is not installed horizontally, please rotate it to level. I will close this issue.

from elevation_mapping.

Could you please explain the method for aligning the orientation of the elevation map with that of the vehicle? Thanks!

from elevation_mapping.

from elevation_mapping.