利用imu在短时间100ms内的运动,补偿雷达的运动畸变,只进行旋转方向的补偿。
1、找配对数据
以lidar为基准,找到包含lidar一帧的点的起始、结束时刻的imu数据。
2、对这些imu数据,进行积分处理
以第一个imu为基准坐标,依次积分所有的imu的数据,每个imu都得到一个对应pose。
3、计算结束时刻的lidar的相对于第一个imu的姿态
lidar不一定和imu的时间对齐,因此,要进行插值。
找到包含这个结束时刻的最近的左边、右边的imu,得到其姿态和时间。
然后利用插值的方法,插值出这个lidar时刻的姿态,注意,这个姿态是imu坐标系的,要转换成lidar坐标系相对于第一个imu坐标系的姿态。
4、将整个点云的点按照第3步处理方式,计算出其lidar坐标系相对于第一个imu的姿态,再转换到最后一个时刻的lidar坐标系下。
5、速度的考虑
1)考虑到点云很多,几万个点,没有必要每个点的时刻都计算一次姿态,将100ms,划分成10个段,计算10个段的姿态,落在某一个段内的,就用对应的姿态进行计算。
2)并行化
这些处理的逻辑是简单的,且是无相关的,可以用omp的方式进行加速处理
6、之前参考的lidar补偿的一些问题
参考的livox的运动补偿,是用时间比例进行插值的方式进行补偿,这个处理,在lidar与imu有平移量的时候,是不能精准插值的。
7、代码
流程代码:
void ImuProcess::Process(const MeasureGroup &meas) {
if(meas.imu.empty() || meas.lidar==nullptr){
return;
}
// ROS_ASSERT(!meas.imu.empty());
// ROS_ASSERT(meas.lidar != nullptr);
// ROS_DEBUG("Process lidar at time: %.4f, %lu imu msgs from %.4f to %.4f",
// meas.lidar->header.stamp.toSec(), meas.imu.size(),
// meas.imu.front()->header.stamp.toSec(),
// meas.imu.back()->header.stamp.toSec());
auto pcl_in_msg = meas.lidar;
/**
if (b_first_frame_) {
/// The very first lidar frame
/// Reset
// Reset();
/// Record first lidar, and first useful imu
last_lidar_ = pcl_in_msg;
last_imu_ = meas.imu.back();
ROS_WARN("The very first lidar frame");
/// Do nothing more, return
b_first_frame_ = false;
return;
}
*/
/// Integrate all input imu message
Reset();
pcl::fromROSMsg(*pcl_in_msg, *cur_pcl_in_);
double lidar_beg_time=cur_pcl_in_->points[0].timestamp;
double lidar_end_time=cur_pcl_in_->points.back().timestamp;
double imu_beg_time=meas.imu.front()->header.stamp.toSec();
double imu_end_time=meas.imu.back()->header.stamp.toSec();
//找到包含lidar begin and lidar end的两个imu
uint imu_idx_for_lidar_beg_1=0;
uint imu_idx_for_lidar_beg_2=0;
uint imu_idx_for_lidar_end_1=0;
uint imu_idx_for_lidar_end_2=0;
IntegrateGyr(meas.imu,
lidar_beg_time,
lidar_end_time,
imu_idx_for_lidar_beg_1,
imu_idx_for_lidar_beg_2,
imu_idx_for_lidar_end_1,
imu_idx_for_lidar_end_2
);//积分出来的是imu最后相对于最前的变化,如果与pcl的时间不一致,还不能直接用
double t_lidar_beg_to_imu_beg=lidar_beg_time-imu_beg_time;
double t_imu_time_range=imu_end_time-imu_beg_time;
double t_lidar_time_range=lidar_end_time-lidar_beg_time;
double t_lidar_end_to_imu_end=imu_end_time-lidar_end_time;
//求出lidar起始时刻、结束时刻的imu的姿态
//包含此lidar的imu的时间差
double imu_time_contain_beg_lidar=meas.imu[imu_idx_for_lidar_beg_2]->header.stamp.toSec()-meas.imu[imu_idx_for_lidar_beg_1]->header.stamp.toSec();
//lidar start time to 包含此ldiar的开始的imu的时间
double lidar_start_time_to_contain_imu_start=lidar_beg_time-meas.imu[imu_idx_for_lidar_beg_1]->header.stamp.toSec();
std::vector<Sophus::SO3d> imu_poses=gyr_int_.GetRots();
Sophus::SO3d imu_pose_1=imu_poses[imu_idx_for_lidar_beg_1];
Sophus::SO3d imu_pose_2=imu_poses[imu_idx_for_lidar_beg_2];
Sophus::SO3d lidar_beg_so3=GetInterpolateSO3(
imu_pose_1,imu_pose_2,
imu_time_contain_beg_lidar,
lidar_start_time_to_contain_imu_start
);
//结束时刻的lidar姿态
double imu_time_contain_end_lidar=meas.imu[imu_idx_for_lidar_end_2]->header.stamp.toSec()-meas.imu[imu_idx_for_lidar_end_1]->header.stamp.toSec();
//lidar end time to 包含此ldiar的开始的imu的时间
double lidar_end_time_to_contain_imu_start=lidar_end_time-meas.imu[imu_idx_for_lidar_end_1]->header.stamp.toSec();
Sophus::SO3d imu_pose_3=imu_poses[imu_idx_for_lidar_end_1];
Sophus::SO3d imu_pose_4=imu_poses[imu_idx_for_lidar_end_2];
Sophus::SO3d lidar_end_so3=GetInterpolateSO3(
imu_pose_3,imu_pose_4,
imu_time_contain_end_lidar,
lidar_end_time_to_contain_imu_start
);
std::cout<<"t_imu_time_range="<<t_imu_time_range<<"\n"
<<"lidar_beg_time="<<lidar_beg_time<<"\n"
<<"t_lidar_beg_to_imu_beg="<<t_lidar_beg_to_imu_beg<<"\n"
<<"t_lidar_end_to_imu_end="<<t_lidar_end_to_imu_end<<"\n"
<<"contain lidar begtime ,imu idx["<<imu_idx_for_lidar_beg_1<<","<<imu_idx_for_lidar_beg_2<<"]\n"
<<"contain lidar endtime ,imu idx["<<imu_idx_for_lidar_end_1<<","<<imu_idx_for_lidar_end_2<<"]\n"
<<",lidar_start_time_to_contain_imu_start="<<lidar_start_time_to_contain_imu_start
<<std::endl;
std::cout
<<"begin lidar pose:"<<(lidar_beg_so3.log()).transpose()*180.0/M_PI
<<"\ncontained beg lidar imu start pose:"<<(imu_pose_1.log()).transpose()*180.0/M_PI
<<"\ncontained beg lidar imu end pose:"<<(imu_pose_2.log()).transpose()*180.0/M_PI
<<"\nend lidar pose:"<<(lidar_end_so3.log()).transpose()*180.0/M_PI
<<"\ncontained end lidar imu start pose:"<<(imu_pose_3.log()).transpose()*180.0/M_PI
<<"\ncontained end lidar imu end pose:"<<(imu_pose_4.log()).transpose()*180.0/M_PI
<<std::endl;
//最终要得出的是pcl的起始时刻和结束时刻的相对位姿变化
//计算lidar begin以及lidar end的相对于imu起始时刻的姿态
//直接插值
/// Compensate lidar points with IMU rotation
Initial pose from IMU (with only rotation)
//这个是imu的结束时刻相比开始时刻的姿态变化
// SE3d T_l_c(gyr_int_.GetRot(), Eigen::Vector3d::Zero());
// dt_l_c_ =0.1;// pcl_in_msg->header.stamp.toSec() - last_lidar_->header.stamp.toSec();
//利用上面计算的lidar 结束时刻、开始时刻的旋转,计算出lidar帧内的姿态变化
dt_l_c_=lidar_end_time-lidar_beg_time;
Eigen::Vector3d lidar_frame_angled=lidar_end_so3.log()-lidar_beg_so3.log();
std::cout
<<"lidar_frame rot angled = "<<lidar_frame_angled.transpose()*(180.00/M_PI)
<<"\ndt_l_c_="<<dt_l_c_
<<std::endl;
Sophus::SO3d lidar_frame_so3=SO3d::exp(lidar_frame_angled);//imu坐标系下的
SE3d T_l_c(lidar_frame_so3, Eigen::Vector3d::Zero());
// std::cout<<"pcl_in_msg->header.stamp.toSec()="<<pcl_in_msg->header.stamp.toSec()
// <<", last_lidar_->header.stamp.toSec()="<< last_lidar_->header.stamp.toSec()
// <<std::endl;
Get input pcl
/// Undistort points
//因为积分的时候,是以begin为基准的,得到其他时刻相对于begin时刻的坐标变化
//而我们要补偿的是补偿到end时刻,所以在执行的时候要注意
Sophus::SE3d T_l_be = T_i_l.inverse() * T_l_c * T_i_l;//end to begin的姿态变化
pcl::copyPointCloud(*cur_pcl_in_, *cur_pcl_un_);
//这种插值方式,在imu和雷达在有平移量时是不精确的,但是时间运算量较小
// UndistortPcl(cur_pcl_un_, dt_l_c_, T_l_be);
//精准的插值方式
UndistortPclPrecise(cur_pcl_un_,meas,imu_poses,lidar_end_so3,T_i_l);
}
void ImuProcess::Reset() {
ROS_WARN("Reset ImuProcess");
b_first_frame_ = true;
last_lidar_ = nullptr;
last_imu_ = nullptr;
gyr_int_.Reset(-1, nullptr);
cur_pcl_in_.reset(new pcl::PointCloud<RsPointXYZIRT>());
cur_pcl_un_.reset(new pcl::PointCloud<RsPointXYZIRT>());
}
积分代码:
void ImuProcess::IntegrateGyr(
const std::vector<sensor_msgs::Imu::ConstPtr> &v_imu,
double &lidar_beg_time,
double &lidar_end_time,
uint &imu_idx_for_lidar_beg_1,
uint &imu_idx_for_lidar_beg_2,
uint &imu_idx_for_lidar_end_1,
uint &imu_idx_for_lidar_end_2
) {
/// Reset gyr integrator
//gyr_int_.Reset(last_lidar_->header.stamp.toSec(), last_imu_);
/// And then integrate all the imu measurements
bool has_large_for_lidarbegintime=false;
bool has_large_for_lidarendtime=false;
double imutime=0;
uint idx=0;
for (const auto &imu : v_imu) {
imutime=imu->header.stamp.toSec();
if(has_large_for_lidarbegintime==false && imutime<=lidar_beg_time){
imu_idx_for_lidar_beg_1=idx;
}
if(has_large_for_lidarendtime==false && imutime<=lidar_end_time){
imu_idx_for_lidar_end_1=idx;
}
if(has_large_for_lidarbegintime==false && imutime>lidar_beg_time){
imu_idx_for_lidar_beg_2=idx;
has_large_for_lidarbegintime=true;
}
if(has_large_for_lidarendtime==false && imutime>lidar_end_time){
imu_idx_for_lidar_end_2=idx;
has_large_for_lidarendtime=true;
}
gyr_int_.Integrate(imu);
++idx;
}
ROS_INFO("integrate time[%.6f,%.6f] rotation angle [x, y, z]: [%.2f, %.2f, %.2f]",
v_imu.front()->header.stamp.toSec(),v_imu.back()->header.stamp.toSec(),
gyr_int_.GetRot().angleX() * 180.0 / M_PI,
gyr_int_.GetRot().angleY() * 180.0 / M_PI,
gyr_int_.GetRot().angleZ() * 180.0 / M_PI);
}
void GyrInt::Integrate(const sensor_msgs::ImuConstPtr &imu) {
//以第一个imu
if (v_rot_.empty()) {
v_rot_.push_back(SO3d());
v_imu_.push_back(imu);
return;
}
const SO3d &rot_last = v_rot_.back();
const auto &imumsg_last = v_imu_.back();
const double &time_last = imumsg_last->header.stamp.toSec();
Eigen::Vector3d gyr_last(imumsg_last->angular_velocity.x,
imumsg_last->angular_velocity.y,
imumsg_last->angular_velocity.z);
double time = imu->header.stamp.toSec();
Eigen::Vector3d gyr(imu->angular_velocity.x, imu->angular_velocity.y,
imu->angular_velocity.z);
assert(time >= 0);
double dt = time - time_last;
auto delta_angle = dt * 0.5 * (gyr + gyr_last);
// std::cout<<"delta_angle="<<delta_angle<<std::endl;
auto delta_r = SO3d::exp(delta_angle);
SO3d rot = rot_last * delta_r;
v_imu_.push_back(imu);
v_rot_.push_back(rot);
}
插值代码:
Sophus::SO3d ImuProcess::GetInterpolateSO3(Sophus::SO3d start,Sophus::SO3d end ,double range,double time_to_beg){
Eigen::Vector3d rso3_1=start.log();
Eigen::Vector3d rso3_2=end.log();
Eigen::Vector3d delta_rso=rso3_2-rso3_1;
double ratio_to_beg=time_to_beg/range;
Eigen::Vector3d delta_from_i_to_beg=delta_rso*ratio_to_beg;
Eigen::Vector3d res_rso=rso3_1+delta_from_i_to_beg;
SO3d resSO3 = SO3d::exp(res_rso);
return resSO3;
}
void ImuProcess::UndistortPclPrecise(const pcl::PointCloud<RsPointXYZIRT>::Ptr &pcl_in_out,
const MeasureGroup &meas,
const std::vector<Sophus::SO3d> &imu_poses,//所有的pose
Sophus::SO3d &lidar_end_time_imu_pose,lidar 结束时刻的imu的pose
Sophus::SE3d &Tbl //lidar to imu
){
//结束时刻imu的姿态,不考虑平移
Sophus::SE3d T_lidar_endtime_imu(lidar_end_time_imu_pose,Eigen::Vector3d::Zero());
//结束时刻,lidar相对于imu基准坐标的姿态
Sophus::SE3d T_lidar_endtime_pose=T_lidar_endtime_imu*Tbl;
std::cout<<"T_lidar_endtime_pose = \n"<<T_lidar_endtime_pose.matrix()<<std::endl;
double t=0;
for (auto &pt : pcl_in_out->points) {
if(!pcl_isfinite(pt.x)
||!pcl_isfinite(pt.y)
||!pcl_isfinite(pt.z)
||pcl_isnan(pt.x)
||pcl_isnan(pt.y)
||pcl_isnan(pt.z)
){
continue;
}
t=pt.timestamp;
uint fi=0,fe=0;
bool has_fe=false;
uint idx=0;
double t_imu_1=0,t_imu_2=0,t_tmp=0;
for(auto &imu:meas.imu){
if(has_fe){
break;
}
t_tmp=imu->header.stamp.toSec();
if(t_tmp<=t){
fi=idx;
t_imu_1=t_tmp;
}else if(t_tmp>t){
fe=idx;
t_imu_2=t_tmp;
has_fe=true;
break;
}
++idx;
}
auto imu_pose_3=imu_poses[fi];
auto imu_pose_4=imu_poses[fe];
double imu_time_contain_end_lidar=t_imu_2-t_imu_1;
double lidar_end_time_to_contain_imu_start = t-t_imu_1;
//插值姿态,imu的
Sophus::SO3d lidar_i_so3=GetInterpolateSO3(
imu_pose_3,imu_pose_4,
imu_time_contain_end_lidar,
lidar_end_time_to_contain_imu_start
);
Sophus::SE3d T_curr_imu(lidar_i_so3,Eigen::Vector3d::Zero());
Sophus::SE3d T_curr_lidar=T_curr_imu*Tbl;
// Sophus::SE3d T_curr_to_end_lidar=T_lidar_endtime_pose*T_curr_lidar.inverse();
Eigen::Vector3d pi(pt.x,pt.y,pt.z);
// auto pe=T_curr_to_end_lidar*pi;
auto pe=T_lidar_endtime_pose.inverse()*T_curr_lidar*pi;
// std::cout<<"lidar_i_so3="<<lidar_i_so3.angleX()*180./M_PI<<","<<lidar_i_so3.angleY()*180./M_PI<<","<<lidar_i_so3.angleZ()*180./M_PI<<std::endl;
std::cout<<"\n\n\n--------\nt="<<t<<",t_imu_1="<<t_imu_1<<",t_imu_2="<<t_imu_2<<std::endl;
std::cout<<"T_curr_lidar=\n"<<T_curr_lidar.matrix()<<std::endl;
std::cout<<"aft precision compensation,\norig p = "<<pi.transpose()
<<"\npe="<<pe.transpose()<<std::endl<<std::endl;
//这个时刻的lidar姿态相对于
// Sophus::SE3d T_l_be = T_i_l.inverse() * T_l_c * T_i_l;//end to begin的姿态变化
}
}