地图点云和非地图点云

       

        

  for (auto& p : pc_particle->points)
  {
    if (kdtree->radiusSearch(p, match_dist_min_, id, sqdist, 1))
    {
      const float dist = match_dist_min_ - std::max(std::sqrt(sqdist[0]), match_dist_flat_);
      if (dist < 0.0){
        
        continue;
      }
      score_like += dist * match_weight_;
      num++;
    }
  }

        以上是判断以某粒子为原点的极坐标系上的点云与地图的距离，如果小于某个范围则被认为是匹配的点，受这个思想启发，我们可以以机器人位姿为极坐标系原点，用距离判断点云是否属于地图。

template <typename POINT_TYPE>
class ChunkedKdtree
{
public:
  using Ptr = std::shared_ptr<ChunkedKdtree>;

  class ChunkId
  {
  public:
    using Ptr = std::shared_ptr<ChunkId>;

    const int x_;
    const int y_;
    const int z_;

    constexpr bool operator==(const ChunkId& a) const
    {
      return x_ == a.x_ && y_ == a.y_ && z_ == a.z_;
    }
    constexpr bool operator!=(const ChunkId& a) const
    {
      return !operator==(a);
    }
    constexpr ChunkId operator+(const ChunkId& a) const
    {
      return ChunkId(x_ + a.x_, y_ + a.y_, z_ + a.z_);
    }
    size_t operator()(const ChunkId& id) const
    {
      return (id.x_) ^ (id.y_ << 11) ^ (id.z_ << 22);
    }
    ChunkId(const int x, const int y, const int z)
      : x_(x)
      , y_(y)
      , z_(z)
    {
    }
    ChunkId()
      : x_(0)
      , y_(0)
      , z_(0)
    {
    }
  };

  explicit ChunkedKdtree(
      const float chunk_length = 20.0,
      const float max_search_radius = 1.0,
      const bool keep_clouds = false)
    : pos_to_chunk_(1.0 / chunk_length)
    , chunk_length_(chunk_length)
    , max_search_radius_(max_search_radius)
    , set_epsilon_(false)
    , keep_clouds_(keep_clouds)
  {
    chunks_.clear();
  }
  void setEpsilon(const float epsilon)
  {
    epsilon_ = epsilon;
    set_epsilon_ = true;
    for (auto& chunk : chunks_)
    {
      chunk.second.kdtree_->setEpsilon(epsilon_);
    }
  }
  void setPointRepresentation(
      boost::shared_ptr<pcl::PointRepresentation<POINT_TYPE>> point_rep)
  {
    point_rep_ = point_rep;
    for (auto& chunk : chunks_)
    {
      chunk.second.kdtree_->setPointRepresentation(point_rep_);
    }
  }
  const typename pcl::PointCloud<POINT_TYPE>::ConstPtr& getInputCloud() const
  {
    return input_cloud_;
  }
  void setInputCloud(
      const typename pcl::PointCloud<POINT_TYPE>::ConstPtr& cloud)
  {
    input_cloud_ = cloud;
    if (chunks_.size())
      chunks_.clear();
    ChunkOriginalIds ids;
    ChunkCloud clouds;
    size_t i = 0;
    for (auto& p : *cloud)
    {
      const auto chunk_id = getChunkId(p);
      clouds[chunk_id].push_back(p);
      ids[chunk_id].push_back(i);

      const float in_chunk_x = p.x - chunk_id.x_ * chunk_length_;
      int x_bound = 0;
      if (in_chunk_x < max_search_radius_)
        x_bound = -1;
      else if (in_chunk_x > chunk_length_ - max_search_radius_)
        x_bound = 1;

      const float in_chunk_y = p.y - chunk_id.y_ * chunk_length_;
      int y_bound = 0;
      if (in_chunk_y < max_search_radius_)
        y_bound = -1;
      else if (in_chunk_y > chunk_length_ - max_search_radius_)
        y_bound = 1;

      const float in_chunk_z = p.z - chunk_id.z_ * chunk_length_;
      int z_bound = 0;
      if (in_chunk_z < max_search_radius_)
        z_bound = -1;
      else if (in_chunk_z > chunk_length_ - max_search_radius_)
        z_bound = 1;

      if (x_bound && y_bound && z_bound)
      {
        const ChunkId id(chunk_id + ChunkId(x_bound, y_bound, z_bound));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (x_bound && y_bound)
      {
        const ChunkId id(chunk_id + ChunkId(x_bound, y_bound, 0));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (y_bound && z_bound)
      {
        const ChunkId id(chunk_id + ChunkId(0, y_bound, z_bound));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (z_bound && x_bound)
      {
        const ChunkId id(chunk_id + ChunkId(x_bound, 0, z_bound));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (x_bound)
      {
        const ChunkId id(chunk_id + ChunkId(x_bound, 0, 0));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (y_bound)
      {
        const ChunkId id(chunk_id + ChunkId(0, y_bound, 0));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (z_bound)
      {
        const ChunkId id(chunk_id + ChunkId(0, 0, z_bound));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      ++i;
    }
    for (auto& cloud : clouds)
    {
      if (point_rep_)
        chunks_[cloud.first].kdtree_->setPointRepresentation(point_rep_);
      if (set_epsilon_)
        chunks_[cloud.first].kdtree_->setEpsilon(epsilon_);
      auto cloud_ptr = cloud.second.makeShared();
      chunks_[cloud.first].kdtree_->setInputCloud(cloud_ptr);
      if (keep_clouds_)
        chunks_[cloud.first].cloud_ = cloud_ptr;
      chunks_[cloud.first].original_ids_ = ids[cloud.first];
    }
  }
  int radiusSearch(
      const POINT_TYPE& p,
      const float& radius,
      std::vector<int>& id,
      std::vector<float>& dist_sq,
      const size_t& num)
  {
    if (radius > chunk_length_)
      throw std::runtime_error("ChunkedKdtree: radius must be <chunk_length");

    const auto chunk_id = getChunkId(p);
    if (chunks_.find(chunk_id) == chunks_.end())
      return false;

    const auto ret = chunks_[chunk_id].kdtree_->radiusSearch(p, radius, id, dist_sq, num);

    for (auto& i : id)
      i = chunks_[chunk_id].original_ids_[i];

    return ret;
  }
  typename pcl::KdTreeFLANN<POINT_TYPE>::Ptr getChunkKdtree(const POINT_TYPE& p)
  {
    return getChunkKdtree(getChunkId(p));
  }
  typename pcl::KdTreeFLANN<POINT_TYPE>::Ptr getChunkKdtree(const ChunkId& c)
  {
    if (chunks_.find(c) == chunks_.end())
      return typename pcl::KdTreeFLANN<POINT_TYPE>::Ptr();
    return chunks_[c].kdtree_;
  }
  typename pcl::PointCloud<POINT_TYPE>::Ptr getChunkCloud(const POINT_TYPE& p)
  {
    return getChunkCloud(getChunkId(p));
  }
  typename pcl::PointCloud<POINT_TYPE>::Ptr getChunkCloud(const ChunkId& c)
  {
    if (!keep_clouds_ || chunks_.find(c) == chunks_.end())
      return typename pcl::PointCloud<POINT_TYPE>::Ptr();
    return chunks_[c].cloud_;
  }
  ChunkId getChunkId(const POINT_TYPE& p) const
  {
    return ChunkId(static_cast<int>(std::floor(p.x * pos_to_chunk_)),
                   static_cast<int>(std::floor(p.y * pos_to_chunk_)),
                   static_cast<int>(std::floor(p.z * pos_to_chunk_)));
  }

protected:
  class Chunk
  {
  public:
    typename pcl::KdTreeFLANN<POINT_TYPE>::Ptr kdtree_;
    std::vector<size_t> original_ids_;
    typename pcl::PointCloud<POINT_TYPE>::Ptr cloud_;

    Chunk()
      : kdtree_(new pcl::KdTreeFLANN<POINT_TYPE>)
      , cloud_(new pcl::PointCloud<POINT_TYPE>)
    {
    }
  };

  const float pos_to_chunk_;
  const float chunk_length_;
  const float max_search_radius_;
  bool set_epsilon_;
  bool keep_clouds_;
  float epsilon_;
  boost::shared_ptr<pcl::PointRepresentation<POINT_TYPE>> point_rep_;

  using ChunkMap = std::unordered_map<ChunkId, Chunk, ChunkId>;
  using ChunkCloud = std::unordered_map<ChunkId, typename pcl::PointCloud<POINT_TYPE>, ChunkId>;
  using ChunkOriginalIds = std::unordered_map<ChunkId, std::vector<size_t>, ChunkId>;
  ChunkMap chunks_;
  typename pcl::PointCloud<POINT_TYPE>::ConstPtr input_cloud_;
};
//依次调用接口
    kdtree_.reset(new ChunkedKdtree<PointType>(params_.map_chunk_, max_search_radius));
    //设置参数
    kdtree_->setEpsilon(params_.map_grid_min_ / 16);
    kdtree_->setPointRepresentation(
        boost::dynamic_pointer_cast<
            pcl::PointRepresentation<PointType>,
            MyPointRepresentation>(boost::make_shared<MyPointRepresentation>(point_rep_)));
    //添加静态地图
    kdtree_->setInputCloud(pc_map2_);
    //循环激光点云匹配到的是静态点云，没匹配到的是移动点云。
      for (auto& p : pc_local->points)
      {
        if (!kdtree_->radiusSearch(p, params_.unmatch_output_dist_, id, sqdist, 1))
        {
          pc_unmatch->points.emplace_back(p.x, p.y, p.z);
        }
        else if (sqdist[0] < match_dist_sq)
        {
          pc_match->points.emplace_back(p.x, p.y, p.z);
        }
      }