develop.log

2018.01.14  Jun
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Changes in ORB-cARV slam
1. system.h, change mMap from private to public
2. 

2018/01/15  Jun
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1 timestamp from jetson image and robot pose are different, why?
  --1 robot time stamp is determined by the master ros machine, so no worry.
  --2 image time stamp is determined by local machine, which is jetson x2.
  --3 we should change this image time stamp to local one when we receive it in orbslam. or more better way is
      precise adjust jetson x2's local time.
2. show local time, sudo date
3. change timezone, sudo dpkg-reconfigure tzdata, select america, admonton.
4. set local time, sudo date nnddhhmmyyyy.ss, nn-month, i.e., 01,
   sudo date 011510492018.48
5. after adjusting their timezone, finally, they are in the same timezone, and returned timestamp are the same, 
   image returned from jetson x2 is a little bit delayed about 0.8s than robot pose. but shouldn't matter too much.
6. it means, all the timestamp returned are the local machine's time.

2018/01/16 Jun
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1 solving least square, under constraints (such as rotation matrix, R), using SDP, or cvx a matlab package.
2 actually, we can firstly using normal OLS, and then using SVD to approximate the SO(3) rotation matrix.

2015/01/21
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1. OpenCV and PCL can not work well in ROS, even tried removing all using namespace cv and pcl, camilo's cal_surface_normal can not work either when using them. He wrote using namespace cv, actually, he is not using any code in cv namespace.
2. tried the Kitti guy's (Andrea) libicp, but results are wrong.
3. seems only the python codes are correct, now my direction is using python, c++ invokes python.
4, tried so many methods, now I'm gonna rewrite python code to c++

perfect test pose: rosservice call /zeus/wam/joint_move '[-0.01997827359460585, -1.1501054894800644, -0.003147235418634868, 1.1128178404561502,0,0,0]'

rosservice call /zeus/wam/joint_move '[0.02534720635220559, -0.9545161514990351, -0.03826855820629933, 2.024343313079751, -0.005218697525796512, -0.03732159442690839, -0.04890655425542969]'