add 'scale_factors' field

Author: Unsigned-Long

exe/tool/raw_inertial_to_bag.cpp

@@ -76,14 +76,24 @@ int main(int argc, char **argv) {
                                      parPath.string());
         }
 
-        auto stampToSedScale =
-            ns_ikalibr::GetParamFromROS<double>("/ikalibr_raw_inertial_to_bag/stamp_to_sed_scale");
+        auto scaleFactorsStr =
+            ns_ikalibr::GetParamFromROS<std::string>("/ikalibr_raw_inertial_to_bag/scale_factors");
+        auto scaleFactorsVec = ns_ikalibr::SplitString(scaleFactorsStr, ';');
+        if (scaleFactorsVec.size() != 3) {
+            throw ns_ikalibr::Status(ns_ikalibr::Status::ERROR,
+                                     "the element count in 'scale_factors' should be three!!!");
+        }
+        double stampToSedScale = std::stod(scaleFactorsVec.at(0));
         spdlog::info("raw stamp to second-unit timestamp scale: '{}'", stampToSedScale);
         if (stampToSedScale <= 0.0) {
             throw ns_ikalibr::Status(
                 ns_ikalibr::Status::ERROR,
                 "raw stamp to second-unit timestamp scale should be positive!!! '{}'");
         }
+        double gyroScale = std::stod(scaleFactorsVec.at(1));
+        spdlog::info("gyroscope measurements scale: '{}'", gyroScale);
+        double acceScale = std::stod(scaleFactorsVec.at(2));
+        spdlog::info("accelerator measurements scale: '{}'", acceScale);
 
         auto headLineCount =
             ns_ikalibr::GetParamFromROS<int>("/ikalibr_raw_inertial_to_bag/head_line_count");
@@ -148,12 +158,12 @@ int main(int argc, char **argv) {
             }
             sensor_msgs::Imu imu;
             imu.header.stamp = ros::Time(std::stod(elems.at(index.at(TIME))) * stampToSedScale);
-            imu.linear_acceleration.x = std::stod(elems.at(index.at(AX)));
-            imu.linear_acceleration.y = std::stod(elems.at(index.at(AY)));
-            imu.linear_acceleration.z = std::stod(elems.at(index.at(AZ)));
-            imu.angular_velocity.x = std::stod(elems.at(index.at(GX)));
-            imu.angular_velocity.y = std::stod(elems.at(index.at(GY)));
-            imu.angular_velocity.z = std::stod(elems.at(index.at(GZ)));
+            imu.linear_acceleration.x = std::stod(elems.at(index.at(AX))) * acceScale;
+            imu.linear_acceleration.y = std::stod(elems.at(index.at(AY))) * acceScale;
+            imu.linear_acceleration.z = std::stod(elems.at(index.at(AZ))) * acceScale;
+            imu.angular_velocity.x = std::stod(elems.at(index.at(GX))) * gyroScale;
+            imu.angular_velocity.y = std::stod(elems.at(index.at(GY))) * gyroScale;
+            imu.angular_velocity.z = std::stod(elems.at(index.at(GZ))) * gyroScale;
             // std::cout << imu.header.stamp << std::endl;
             // std::cout << imu.linear_acceleration << std::endl;
             // std::cout << imu.angular_velocity << std::endl;

launch/tool/ikalibr-raw-inertial-to-bag.launch

@@ -3,13 +3,24 @@
 
     <node pkg="ikalibr" type="ikalibr_raw_inertial_to_bag" name="ikalibr_raw_inertial_to_bag" output="screen">
         <!-- raw inertial path  -->
-        <param name="raw_inertial_path" value="/home/csl/dataset/tum/rolling-shutter/dataset-seq10/dso/imu.txt" type="string"/>
+        <param name="raw_inertial_path" value="/home/csl/dataset/tum/rolling-shutter/dataset-seq10/dso/imu.txt"
+               type="string"/>
         <!-- image topic (what message topic for images in the generated rosbag you want) -->
         <param name="imu_topic" value="/imu/frame" type="string"/>
         <!-- output bag path  -->
         <param name="bag_path" value="/home/csl/dataset/tum/rolling-shutter/dataset-seq10/imu.bag" type="string"/>
-        <!-- timestamp (second) = stamp * ${stamp_to_sed_scale}  -->
-        <param name="stamp_to_sed_scale" value="1E-9" type="double"/>
+        <!--
+         scale_factors = {scale_factor_on_timestamp;scale_factor_on_gyro_mes;scale_factor_on_acce_mes},
+         split by a semicolon. For example:
+         (1) If your time unit is nanoseconds, you need to use {1E-9} to convert it to single seconds. Converting time
+             units to seconds is necessary when making ros bags.
+         (2) If your angular velocity is in deg/s, if you want to convert it to rad/s, you need to use {0.01745329} to
+             convert. This is not necessary, if you want to keep the original unit, just fill in {1.0}.
+         (3) If your acceleration is in G, if you want to convert it to m/s^2, you need to convert it by the
+             local gravity (about 9.8 m/s^2). This is not necessary, if you want to keep the original units,
+             just fill in {1.0}.
+         -->
+        <param name="scale_factors" value="1E-9;1.0;1.0" type="double"/>
         <!-- how many lines to jump at head (invalid lines, which are only notes) -->
         <param name="head_line_count" value="1" type="int"/>
         <!-- the split character (only one character), pass it in the middle of the big parentheses -->