写在前面
功能简介:
1.scan-to-map匹配：提取当前激光帧特征点（角点、平面点），局部关键帧map的特征点，执行scan-to-map迭代优化，更新当前帧位姿；
2.关键帧因子图优化; 关键帧加入因子图，添加激光里程计因子、GPS因子、闭环因子、执行因子图优化，更新所有关键帧的位姿；
3.闭环检测：在历史关键帧中找距离相近，时间相隔较远的帧设为匹配帧，匹配帧周围提取局部关键帧地图，同样执行scan-to-map匹配，得到位姿变换，构建闭环因子数据，加入因子图优化。
订阅：
1.订阅当前激光帧点云信息，来自FeatureExtraction;
2.订阅GPS里程计；
3.订阅来自外部闭环检测程序提供的闭环数据，本程序没有提供，这里实际没用上。
发布：
1.发布历史关键帧里程计；
2.发布局部关键帧地图的特征点云；
3.发布激光里程计，rviz中表现为坐标轴；
4.发布激光里程计；
5.发布激光里程计路径，rviz中表现为载体的运行轨迹；
6.发布地图保存服务；
7.发布闭环匹配局部关键帧地图；
8.发布当前关键帧经过闭环优化后的位姿变换之后的特征点云；
9.发布闭环边，rviz中表现为闭环帧之间的连线；
10.发布局部地图的降采样平面点集合；
11.发布历史帧（累加的）的角点、平面点降采样集合；
12.发布当前帧原始点云配准之后的点云。
定义参数变量：
using namespace gtsam;
using symbol_shorthand::X; // Pose3 (x,y,z,r,p,y)
using symbol_shorthand::V; // Vel (xdot,ydot,zdot)
using symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz)
using symbol_shorthand::G; // GPS pose
6D位姿点云结构定义：
/*
* A point cloud type that has 6D pose info ([x,y,z,roll,pitch,yaw] intensity is time stamp) 6D位姿点云结构定义
*/
struct PointXYZIRPYT
{
PCL_ADD_POINT4D
PCL_ADD_INTENSITY; // preferred way of adding a XYZ+padding 添加XYZ+填充的首选方法
float roll;
float pitch;
float yaw;
double time;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned 确保我们的新分配器对齐
} EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment 强制SSE填充以实现正确的内存对齐
POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIRPYT,
(float, x, x) (float, y, y)
(float, z, z) (float, intensity, intensity)
(float, roll, roll) (float, pitch, pitch) (float, yaw, yaw)
(double, time, time))
typedef PointXYZIRPYT PointTypePose;
成员变量：
public:
// gtsam
NonlinearFactorGraph gtSAMgraph;
Values initialEstimate;
Values optimizedEstimate;
ISAM2 *isam;
Values isamCurrentEstimate;
Eigen::MatrixXd poseCovariance;
ros::Publisher pubLaserCloudSurround;
ros::Publisher pubLaserOdometryGlobal;
ros::Publisher pubLaserOdometryIncremental;
ros::Publisher pubKeyPoses;
ros::Publisher pubPath;
ros::Publisher pubHistoryKeyFrames;
ros::Publisher pubIcpKeyFrames;
ros::Publisher pubRecentKeyFrames;
ros::Publisher pubRecentKeyFrame;
ros::Publisher pubCloudRegisteredRaw;
ros::Publisher pubLoopConstraintEdge;
ros::Subscriber subCloud;
ros::Subscriber subGPS;
ros::Subscriber subLoop;
ros::ServiceServer srvSaveMap;
std::deque<nav_msgs::Odometry> gpsQueue;
lio_sam::cloud_info cloudInfo;
// 历史所有关键帧的角点集合（降采样）
vector<pcl::PointCloud<PointType>::Ptr> cornerCloudKeyFrames;
// 历史所用关键帧的平面点集合（降采样）
vector<pcl::PointCloud<PointType>::Ptr> surfCloudKeyFrames;
// 历史关键帧位姿（位置）
pcl::PointCloud<PointType>::Ptr cloudKeyPoses3D;
// 历史关键帧位姿
pcl::PointCloud<PointTypePose>::Ptr cloudKeyPoses6D;
pcl::PointCloud<PointType>::Ptr copy_cloudKeyPoses3D;
pcl::PointCloud<PointTypePose>::Ptr copy_cloudKeyPoses6D;
// 当前激光帧角点集合
pcl::PointCloud<PointType>::Ptr laserCloudCornerLast; // corner feature set from odoOptimization
// 当前激光帧平面点集合
pcl::PointCloud<PointType>::Ptr laserCloudSurfLast; // surf feature set from odoOptimization
// 当前激光帧角点集合，降采样，DS：DownSize
pcl::PointCloud<PointType>::Ptr laserCloudCornerLastDS; // downsampled corner featuer set from odoOptimization
// 当前激光帧平面点集合，降采样
pcl::PointCloud<PointType>::Ptr laserCloudSurfLastDS; // downsampled surf featuer set from odoOptimization
// 当前帧与局部map匹配上了的角点、平面点，加入同一集合：后面是对应点的参数
pcl::PointCloud<PointType>::Ptr laserCloudOri;
pcl::PointCloud<PointType>::Ptr coeffSel;
// 当前帧与局部map匹配上了的角点、参数、标记
std::vector<PointType> laserCloudOriCornerVec; // corner point holder for parallel computation
std::vector<PointType> coeffSelCornerVec;
std::vector<bool> laserCloudOriCornerFlag;
// 当前帧与局部map匹配上了的平面点、参数、标记
std::vector<PointType> laserCloudOriSurfVec; // surf point holder for parallel computation
std::vector<PointType> coeffSelSurfVec;
std::vector<bool> laserCloudOriSurfFlag;
map<int, pair<pcl::PointCloud<PointType>, pcl::PointCloud<PointType>>> laserCloudMapContainer;
// 局部地图的角点集合
pcl::PointCloud<PointType>::Ptr laserCloudCornerFromMap;
// 局部地图的平面点集合
pcl::PointCloud<PointType>::Ptr laserCloudSurfFromMap;
// 局部地图的角点集合，降采样
pcl::PointCloud<PointType>::Ptr laserCloudCornerFromMapDS;
// 局部地图的平面点集合，降采样
pcl::PointCloud<PointType>::Ptr laserCloudSurfFromMapDS;
// 局部关键帧构建的地图点云，对应kdtree,用于scan-to-map找相邻（KLANN）
pcl::KdTreeFLANN<PointType>::Ptr kdtreeCornerFromMap;
pcl::KdTreeFLANN<PointType>::Ptr kdtreeSurfFromMap;
pcl::KdTreeFLANN<PointType>::Ptr kdtreeSurroundingKeyPoses;
pcl::KdTreeFLANN<PointType>::Ptr kdtreeHistoryKeyPoses;
// 降采样
pcl::VoxelGrid<PointType> downSizeFilterCorner;
pcl::VoxelGrid<PointType> downSizeFilterSurf;
pcl::VoxelGrid<PointType> downSizeFilterICP;
pcl::VoxelGrid<PointType> downSizeFilterSurroundingKeyPoses; // for surrounding key poses of scan-to-map optimization
ros::Time timeLaserInfoStamp;
double timeLaserInfoCur;
float transformTobeMapped[6];
std::mutex mtx;
std::mutex mtxLoopInfo;
bool isDegenerate = false;
cv::Mat matP;
//局部地图角点数量
int laserCloudCornerFromMapDSNum = 0;
//局部地图平面点数量
int laserCloudSurfFromMapDSNum = 0;
//当前激光帧角点数量
int laserCloudCornerLastDSNum = 0;
//当前激光帧平面点数量
int laserCloudSurfLastDSNum = 0;
bool aLoopIsClosed = false;
map<int, int> loopIndexContainer; // from new to old
vector<pair<int, int>> loopIndexQueue;
vector<gtsam::Pose3> loopPoseQueue;
vector<gtsam::noiseModel::Diagonal::shared_ptr> loopNoiseQueue;
deque<std_msgs::Float64MultiArray> loopInfoVec;
nav_msgs::Path globalPath;
// 当前帧位姿
Eigen::Affine3f transPointAssociateToMap;
// 前一帧位姿
Eigen::Affine3f incrementalOdometryAffineFront;
// 当前帧位姿
Eigen::Affine3f incrementalOdometryAffineBack;
构造函数与初始化：
//构造函数与初始化
/**
* 构造函数
*/
mapOptimization()
{
ISAM2Params parameters;
parameters.relinearizeThreshold = 0.1;
parameters.relinearizeSkip = 1;
isam = new ISAM2(parameters);
// 发布历史关键帧里程计
pubKeyPoses = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/trajectory", 1);
// 发布局部关键帧地图的特征点云
pubLaserCloudSurround = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/map_global", 1);
// 发布激光里程计，rviz中表现为坐标轴
pubLaserOdometryGlobal = nh.advertise<nav_msgs::Odometry> ("lio_sam/mapping/odometry", 1);
// 发布激光里程计，它与上面的激光里程计基本一样，只是roll、pitch用imu数据加权平均了一下，z做了限制
pubLaserOdometryIncremental = nh.advertise<nav_msgs::Odometry> ("lio_sam/mapping/odometry_incremental", 1);
// 发布激光里程计路径，rviz中表现为载体的运行轨迹
pubPath = nh.advertise<nav_msgs::Path>("lio_sam/mapping/path", 1);
// 订阅当前激光帧点云信息，来自featureExtraction
subCloud = nh.subscribe<lio_sam::cloud_info>("lio_sam/feature/cloud_info", 1, &mapOptimization::laserCloudInfoHandler, this, ros::TransportHints().tcpNoDelay());
// 订阅GPS里程计
subGPS = nh.subscribe<nav_msgs::Odometry> (gpsTopic, 200, &mapOptimization::gpsHandler, this, ros::TransportHints().tcpNoDelay());
// 订阅来自外部闭环检测程序提供的闭环数据，本程序没有提供，这里实际没用上
subLoop = nh.subscribe<std_msgs::Float64MultiArray>("lio_loop/loop_closure_detection", 1, &mapOptimization::loopInfoHandler, this, ros::TransportHints().tcpNoDelay());
//发布地图保存服务
srvSaveMap = nh.advertiseService("lio_sam/save_map", &mapOptimization::saveMapService, this);
//发布闭环匹配关键帧局部地图
pubHistoryKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/icp_loop_closure_history_cloud", 1);
//发布当前关键帧经过闭环优化后的位姿变换之后的特征点云
pubIcpKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/icp_loop_closure_corrected_cloud", 1);
//发布闭环边，rviz中表现为闭环帧之间的连线
pubLoopConstraintEdge = nh.advertise<visualization_msgs::MarkerArray>("/lio_sam/mapping/loop_closure_constraints", 1);
//发布局部地图的降采样平面点集合
pubRecentKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/map_local", 1);
//发布历史帧（累加的）的角点、平面点降采样集合
pubRecentKeyFrame = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/cloud_registered", 1);
//发布当前帧原始点云配准之后的点云
pubCloudRegisteredRaw = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/cloud_registered_raw", 1);
downSizeFilterCorner.setLeafSize(mappingCornerLeafSize, mappingCornerLeafSize, mappingCornerLeafSize);
downSizeFilterSurf.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
downSizeFilterICP.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
downSizeFilterSurroundingKeyPoses.setLeafSize(surroundingKeyframeDensity, surroundingKeyframeDensity, surroundingKeyframeDensity); // for surrounding key poses of scan-to-map optimization
allocateMemory();
}
/**
* 初始化
*/
void allocateMemory()
{
cloudKeyPoses3D.reset(new pcl::PointCloud<PointType>());
cloudKeyPoses6D.reset(new pcl::PointCloud<PointTypePose>());
copy_cloudKeyPoses3D.reset(new pcl::PointCloud<PointType>());
copy_cloudKeyPoses6D.reset(new pcl::PointCloud<PointTypePose>());
kdtreeSurroundingKeyPoses.reset(new pcl::KdTreeFLANN<PointType>());
kdtreeHistoryKeyPoses.reset(new pcl::KdTreeFLANN<PointType>());
laserCloudCornerLast.reset(new pcl::PointCloud<PointType>()); // corner feature set from odoOptimization
laserCloudSurfLast.reset(new pcl::PointCloud<PointType>()); // surf feature set from odoOptimization
laserCloudCornerLastDS.reset(new pcl::PointCloud<PointType>()); // downsampled corner featuer set from odoOptimization
laserCloudSurfLastDS.reset(new pcl::PointCloud<PointType>()); // downsampled surf featuer set from odoOptimization
laserCloudOri.reset(new pcl::PointCloud<PointType>());
coeffSel.reset(new pcl::PointCloud<PointType>());
laserCloudOriCornerVec.resize(N_SCAN * Horizon_SCAN);
coeffSelCornerVec.resize(N_SCAN * Horizon_SCAN);
laserCloudOriCornerFlag.resize(N_SCAN * Horizon_SCAN);
laserCloudOriSurfVec.resize(N_SCAN * Horizon_SCAN);
coeffSelSurfVec.resize(N_SCAN * Horizon_SCAN);
laserCloudOriSurfFlag.resize(N_SCAN * Horizon_SCAN);
std::fill(laserCloudOriCornerFlag.begin(), laserCloudOriCornerFlag.end(), false);
std::fill(laserCloudOriSurfFlag.begin(), laserCloudOriSurfFlag.end(), false);
laserCloudCornerFromMap.reset(new pcl::PointCloud<PointType>());
laserCloudSurfFromMap.reset(new pcl::PointCloud<PointType>());
laserCloudCornerFromMapDS.reset(new pcl::PointCloud<PointType>());
laserCloudSurfFromMapDS.reset(new pcl::PointCloud<PointType>());
kdtreeCornerFromMap.reset(new pcl::KdTreeFLANN<PointType>());
kdtreeSurfFromMap.reset(new pcl::KdTreeFLANN<PointType>());
for (int i = 0; i < 6; ++i){
transformTobeMapped[i] = 0;
}
matP = cv::Mat(6, 6, CV_32F, cv::Scalar::all(0));
}
订阅激光帧点云信息：
//订阅激光帧点云信息
/**
* 订阅当前激光帧点云信息，来自featureExtraction
* 1.当前帧位姿初始化
* 1）如果是第一帧，用原始imu数据的RPY初始化当前帧位姿（旋转部分）
* 2）后续帧，用imu里程计计算两帧之间的增量位姿变换，作用于前一帧的激光位姿，得到当前帧的激光位姿
* 2.提取局部角点、平面点云集合，加入局部地图
* 1）对最近一帧的关键帧，搜索时空维度上相邻的关键帧集合，降采样一下
* 2）对关键帧集合中的每一帧，提取对应的角点、平面点，加入局部地图中
* 3.当前激光帧角点、平面点集合降采样
* 4.scan-to-map优化当前帧位姿
* （1）要求当前帧特征点数量足够多，且匹配的点数够多，才执行优化
* （2）迭代30次（上限）优化
* 1）当前激光帧角点寻找局部地图匹配点
* a.更新当前帧位姿，将当前帧角点坐标变换到map系下，在局部地图中查找5个最近点，距离小于1m，且5个点构成直线（用距离中心点的协方差矩阵，特征值进行判断），则认为匹配上了
* b.计算当前帧平面点到平面的距离、垂线的单位向量，存储为角点参数
* 2）当前激光帧平面点寻找局部地图匹配点
* a.更新当前帧位姿，将当前帧角点坐标变换到map系下，在局部地图中查找5个最近点，距离小于1m，且5个点构成平面（最小二乘拟合平面），则认为匹配上了
* b.计算当前帧平面点到平面的距离、垂线的单位向量，存储为平面点参数
* 3）提取当前帧中与局部地图匹配上了的角点、平面点，加入同一集合
* 4）对匹配特征点计算Jacobian矩阵，观测值为特征点到直线、平面的距离，构建高斯牛顿方程，迭代优化当前帧位姿，存transformTobeMapped
* (3)用imu原始RPY数据与scan-to-map优化后的位姿进行加权融合，更新当前帧位姿的roll,pitch,约束z坐标
* 5.设置当前帧为关键帧并执行因子图优化
* 1）计算当前帧与前一帧位姿变换，如果变化太小，不设为关键帧，反之设为关键帧
* 2）添加激光里程计因子、GPS因子、闭环因子
* 3）执行因子图优化
* 4）得到当前帧优化后的位姿，位姿协方差
* 5）添加cloudKeyPoses3D,cloudKeyPoses6D,更新transformTobeMapped,添加当前关键帧的角点、平面点集合
* 6.更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿，更新里程计轨迹
* 7.发布激光里程计
* 8.发布里程计、点云、轨迹
*/
void laserCloudInfoHandler(const lio_sam::cloud_infoConstPtr& msgIn)
{
// extract time stamp
// 当前激光帧时间戳
timeLaserInfoStamp = msgIn->header.stamp;
timeLaserInfoCur = msgIn->header.stamp.toSec();
// extract info and feature cloud
// 提取当前激光帧角点、平面点集合
cloudInfo = *msgIn;
pcl::fromROSMsg(msgIn->cloud_corner, *laserCloudCornerLast);
pcl::fromROSMsg(msgIn->cloud_surface, *laserCloudSurfLast);
std::lock_guard<std::mutex> lock(mtx);
// mapping执行频率控制
static double timeLastProcessing = -1;
if (timeLaserInfoCur - timeLastProcessing >= mappingProcessInterval)
{
timeLastProcessing = timeLaserInfoCur;
//当前帧位姿初始化
//1.如果是第一帧，用原始imu数据的RPY初始化当前帧位姿（旋转部分）
//2.后续帧，用imu里程计计算两帧之间的增量位姿变换，作用于前一帧的激光位姿，得到当前帧激光位姿
updateInitialGuess();
//提取局部角点、平面点云集合，加入局部地图
//1.对最近的一帧关键帧，搜索时空维度上相邻的关键帧集合，降采样一下
//2.对关键帧集合中的每一帧，提取对应的角点、平面点，加入局部地图中
extractSurroundingKeyFrames();
//当前激光帧角点、平面点集合降采样
downsampleCurrentScan();
//scan-to-map优化当前帧位姿
//1.要求当前帧特征点数量足够多，且匹配的点数足够多，才执行优化
//2.迭代30次（上限）优化
// 1）当前激光帧角点寻找局部地图匹配点
// a.更新当前帧位姿，将当前帧平面点坐标变换到map系下，在局部map中查找5个最近点，且距离小于1m,且5个点构成直线（用距离中心的协方差矩阵，特征值进行判断），则认为匹配上了
// b.计算当前帧平面点到平面的距离、垂线的单位向量，存储为平面点参数
// 2）当前激光帧平面点寻找局部地图匹配点
// a.更新当前帧位姿，将当前帧平面点坐标变换到map系下，在局部地图中查找5个最近点，且距离小于1m，且5个点构成平面（最小二乘拟合平面），则认为匹配上了
// b.计算当前帧平面点到平面的距离、垂线的单位向量，存储为平面点参数
// 3）提取当前帧中与局部地图匹配上了的角点、平面点，加入同一集合
// 4）对匹配特征点计算雅可比矩阵，观测值为特征点到直线、平面的距离，构建高斯牛顿方程，迭代优化当前位姿，存transformTobeMapped
//3.用imu原始RPY数据与scan-to-map优化后的位姿进行加权融合，更新当前帧位姿的roll,pitch,约束z坐标
scan2MapOptimization();
//设置当前帧为关键帧并执行因子图优化
//1.计算当前帧与前一帧位姿变换，如果变化太小，不设为关键帧，反之设为关键帧
//2.添加激光里程计因子，GPS因子，闭环因子
//3.执行因子图优化
//4.得到当前帧优化后位姿，位姿协方差
//5.添加cloudKeyPoses3D,cloudKeyPoses6D,更新transformTobeMapped,添加当前关键帧的角点、平面点集合
saveKeyFramesAndFactor();
//更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿，更新里程计轨迹
correctPoses();
//发布激光里程计
publishOdometry();
//发布里程计、点云、轨迹
//1.发布历史关键帧位姿集合
//2.发布局地图降采样平面点集合
//3.发布历史帧（累加的）的角点、平面点降采样集合
//4.发布里程计轨迹
publishFrames();
}
}
1.当前帧位姿初始化
/**
* 当前帧位姿初始化
* 1.如果是第一帧，用原始imu数据的RPY初始化当前帧位姿（旋转部分）
* 2.后续帧，用imu里程计计算两帧之间的增量位姿变换，作用于前一帧的激光位姿，得到当前帧激光位姿
*/
void updateInitialGuess()
{
// save current transformation before any processing 在进行任何处理之前保存当前转换
// 前一帧的位姿，注：这里指lidar的位姿，后面都简写成位姿
incrementalOdometryAffineFront = trans2Affine3f(transformTobeMapped);
//前一帧的初始化姿态角（来自原始imu数据），用于估计第一帧的位姿（旋转部分）
static Eigen::Affine3f lastImuTransformation;
// initialization
// 如果关键帧集合为空，继续进行初始化
if (cloudKeyPoses3D->points.empty())
{
//当前帧位姿的旋转部分，用激光帧信息中的RPY（来自IMU原始数据）初始化
transformTobeMapped[0] = cloudInfo.imuRollInit;
transformTobeMapped[1] = cloudInfo.imuPitchInit;
transformTobeMapped[2] = cloudInfo.imuYawInit;
if (!useImuHeadingInitialization)
transformTobeMapped[2] = 0;
lastImuTransformation = pcl::getTransformation(0, 0, 0, cloudInfo.imuRollInit, cloudInfo.imuPitchInit, cloudInfo.imuYawInit); // save imu before return;
return;
}
// use imu pre-integration estimation for pose guess 使用imu预积分估计进行姿态估计
// 用当前帧和前一帧对应的imu里程计计算相对位姿变换，再用前一帧的位姿与相对变换，计算当前帧的位姿，存transformTobeMapped
static bool lastImuPreTransAvailable = false;
static Eigen::Affine3f lastImuPreTransformation;
if (cloudInfo.odomAvailable == true)
{
// 当前帧的初始估计位姿（来自imu里程计），后面用来计算增量位姿变换
Eigen::Affine3f transBack = pcl::getTransformation(cloudInfo.initialGuessX, cloudInfo.initialGuessY, cloudInfo.initialGuessZ,
cloudInfo.initialGuessRoll, cloudInfo.initialGuessPitch, cloudInfo.initialGuessYaw);
if (lastImuPreTransAvailable == false)
{
//赋值给前一帧
lastImuPreTransformation = transBack;
lastImuPreTransAvailable = true;
} else {
//当前帧相对于前一帧的位姿变换---imu里程计计算得到
Eigen::Affine3f transIncre = lastImuPreTransformation.inverse() * transBack;
//前一帧的位姿
Eigen::Affine3f transTobe = trans2Affine3f(transformTobeMapped);
//当前帧的位姿
Eigen::Affine3f transFinal = transTobe * transIncre;
//更新当前帧位姿transformTobeMapped
pcl::getTranslationAndEulerAngles(transFinal, transformTobeMapped[3], transformTobeMapped[4], transformTobeMapped[5],
transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]);
//赋值给前一帧
lastImuPreTransformation = transBack;
// save imu before return;
lastImuTransformation = pcl::getTransformation(0, 0, 0, cloudInfo.imuRollInit, cloudInfo.imuPitchInit, cloudInfo.imuYawInit);
return;
}
}
// use imu incremental estimation for pose guess (only rotation)
// 只在第一帧调用（注意上面的return），用imu数据初始化当前帧位姿，仅初始化旋转部分
if (cloudInfo.imuAvailable == true)
{
//当前帧的姿态角（来自原始imu数据）
Eigen::Affine3f transBack = pcl::getTransformation(0, 0, 0, cloudInfo.imuRollInit, cloudInfo.imuPitchInit, cloudInfo.imuYawInit);
//当前帧相对于前一帧的姿态变换
Eigen::Affine3f transIncre = lastImuTransformation.inverse() * transBack;
//前一帧位姿
Eigen::Affine3f transTobe = trans2Affine3f(transformTobeMapped);
//当前帧位姿
Eigen::Affine3f transFinal = transTobe * transIncre;
//更新当前帧位姿transformTobeMapped
pcl::getTranslationAndEulerAngles(transFinal, transformTobeMapped[3], transformTobeMapped[4], transformTobeMapped[5],
transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]);
lastImuTransformation = pcl::getTransformation(0, 0, 0, cloudInfo.imuRollInit, cloudInfo.imuPitchInit, cloudInfo.imuYawInit); // save imu before return;
return;
}
}
2.提取局部角点、平面点云集合，加入局部地图
/**
* 提取局部角点、平面点云集合，加入局部地图
* 1、对最近的一帧关键帧，搜索时空维度上相邻的关键帧集合，降采样一下
* 2、对关键帧集合中的每一帧，提取对应的角点、平面点，加入局部map中
*/
void extractSurroundingKeyFrames()
{
if (cloudKeyPoses3D->points.empty() == true)
return;
// if (loopClosureEnableFlag == true)
// {
// extractForLoopClosure();
// } else {
// extractNearby();
// }
extractNearby();
}
// 局部关键帧地图提取角点、平面点集合、
/**
* 提取局部角点、平面点云集合，加入局部地图
* 1.对最近的一帧关键帧，搜索时空维度上相邻的关键帧集合，降采样一下
* 2.对关键帧集合中的每一帧，提取对应的角点、平面点，加入局部地图中
*/
void extractNearby()
{
pcl::PointCloud<PointType>::Ptr surroundingKeyPoses(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr surroundingKeyPosesDS(new pcl::PointCloud<PointType>());
std::vector<int> pointSearchInd;
std::vector<float> pointSearchSqDis;
// extract all the nearby key poses and downsample them 提取所有附近的关键点姿势并对其进行下采样
// kdtree的输入，全局关键帧位姿集合（历史所有关键帧集合）
kdtreeSurroundingKeyPoses->setInputCloud(cloudKeyPoses3D); // create kd-tree
// 对最近的一帧关键帧，在半径区域内搜索空间区域上相邻的关键帧集合
kdtreeSurroundingKeyPoses->radiusSearch(cloudKeyPoses3D->back(), (double)surroundingKeyframeSearchRadius, pointSearchInd, pointSearchSqDis);
// 遍历搜索结果，pointSearchInd存的是结果在cloudKeyPoses3D下面的索引
for (int i = 0; i < (int)pointSearchInd.size(); ++i)
{
int id = pointSearchInd[i];
//加入相邻关键帧位姿集合中
surroundingKeyPoses->push_back(cloudKeyPoses3D->points[id]);
}
//降采样一下
downSizeFilterSurroundingKeyPoses.setInputCloud(surroundingKeyPoses);
downSizeFilterSurroundingKeyPoses.filter(*surroundingKeyPosesDS);
for(auto& pt : surroundingKeyPosesDS->points)
{
kdtreeSurroundingKeyPoses->nearestKSearch(pt, 1, pointSearchInd, pointSearchSqDis);
pt.intensity = cloudKeyPoses3D->points[pointSearchInd[0]].intensity;
}
// also extract some latest key frames in case the robot rotates in one position 同时提取一些最新的关键帧，以防机器人在一个位置旋转
// 加入时间上相邻的一些关键帧，比如当载体在原地转圈，这些帧加进来是合理的
int numPoses = cloudKeyPoses3D->size();
for (int i = numPoses-1; i >= 0; --i)
{
if (timeLaserInfoCur - cloudKeyPoses6D->points[i].time < 10.0)
surroundingKeyPosesDS->push_back(cloudKeyPoses3D->points[i]);
else
break;
}
//将相邻关键帧集合对应的角点、平面点，加入到局部map中，作为scan-to-map匹配的局部点云地图
extractCloud(surroundingKeyPosesDS);
}
/**
* 将相邻关键帧集合对应的角点、平面点，加入到局部地图中，作为scan-to-map匹配的局部点云地图
*/
void extractCloud(pcl::PointCloud<PointType>::Ptr cloudToExtract)
{
// fuse the map 融合地图
// 相邻关键帧集合对应的角点、平面点，加入到局部地图中；注：称之为局部地图，后面进行scan-to-map匹配，所用到的map就是这里的相邻关键帧对应点云集合
laserCloudCornerFromMap->clear();
laserCloudSurfFromMap->clear();
//遍历当前帧（实际是取最近的一个关键帧来找它相邻的关键帧集合）时空维度上相邻的关键帧集合
for (int i = 0; i < (int)cloudToExtract->size(); ++i)
{
//距离超过阈值，丢弃
if (pointDistance(cloudToExtract->points[i], cloudKeyPoses3D->back()) > surroundingKeyframeSearchRadius)
continue;
//相邻关键帧索引
int thisKeyInd = (int)cloudToExtract->points[i].intensity;
if (laserCloudMapContainer.find(thisKeyInd) != laserCloudMapContainer.end())
{
// transformed cloud available
// 相邻关键帧对应的角点、平面点云，通过6D位姿变换到世界坐标系下
*laserCloudCornerFromMap += laserCloudMapContainer[thisKeyInd].first;
*laserCloudSurfFromMap += laserCloudMapContainer[thisKeyInd].second;
} else {
// transformed cloud not available
pcl::PointCloud<PointType> laserCloudCornerTemp = *transformPointCloud(cornerCloudKeyFrames[thisKeyInd], &cloudKeyPoses6D->points[thisKeyInd]);
pcl::PointCloud<PointType> laserCloudSurfTemp = *transformPointCloud(surfCloudKeyFrames[thisKeyInd], &cloudKeyPoses6D->points[thisKeyInd]);
//加入局部地图
*laserCloudCornerFromMap += laserCloudCornerTemp;
*laserCloudSurfFromMap += laserCloudSurfTemp;
laserCloudMapContainer[thisKeyInd] = make_pair(laserCloudCornerTemp, laserCloudSurfTemp);
}
}
// Downsample the surrounding corner key frames (or map)
// 降采样局部角点map
downSizeFilterCorner.setInputCloud(laserCloudCornerFromMap);
downSizeFilterCorner.filter(*laserCloudCornerFromMapDS);
laserCloudCornerFromMapDSNum = laserCloudCornerFromMapDS->size();
// Downsample the surrounding surf key frames (or map)
// 降采样局部平面点地图
downSizeFilterSurf.setInputCloud(laserCloudSurfFromMap);
downSizeFilterSurf.filter(*laserCloudSurfFromMapDS);
laserCloudSurfFromMapDSNum = laserCloudSurfFromMapDS->size();
// clear map cache if too large
// 太大了，清空一下内存
if (laserCloudMapContainer.size() > 1000)
laserCloudMapContainer.clear();
}
3.当前激光帧角点、平面点集合降采样
void downsampleCurrentScan()
{
// Downsample cloud from current scan 当前扫描的降采样点云
laserCloudCornerLastDS->clear();
downSizeFilterCorner.setInputCloud(laserCloudCornerLast);
downSizeFilterCorner.filter(*laserCloudCornerLastDS);
laserCloudCornerLastDSNum = laserCloudCornerLastDS->size();
laserCloudSurfLastDS->clear();
downSizeFilterSurf.setInputCloud(laserCloudSurfLast);
downSizeFilterSurf.filter(*laserCloudSurfLastDS);
laserCloudSurfLastDSNum = laserCloudSurfLastDS->size();
}
/**
* 更新当前帧位姿
*/
void updatePointAssociateToMap()
{
transPointAssociateToMap = trans2Affine3f(transformTobeMapped);
}
4.scan-to-map优化当前帧位姿
//优化当前帧位姿的主体函数
/**
* scan-to-map优化当前帧位姿
* 1.要求当前帧特征点数量足够多，且匹配的点数足够多，才执行优化
* 2.迭代30次（上限）优化
* 1）当前激光帧角点寻找局部地图匹配点
* a.更新当前帧位姿，将当前帧角点坐标变换到map系下，在局部map中查找5个最近点，距离小于1m，且5个点构成直线（用距离中心的协方差矩阵，特征值进行判断），则认为匹配上了
* b.计算当前帧角点到直线的距离、垂线的单位向量，存储为角点参数
* 2）当前激光帧平面点寻找局部地图匹配点
* a.更新当前帧位姿，将当前帧平面点坐标变换到map系下，在局部map中查找5个最近点，且距离小于1m，且5个点构成直线（最小二乘拟合平面），则认为匹配上了
* b.计算当前帧平面点到平面的距离、垂线的单位向量，存储为平面点参数
* 3）提取当前帧中与局部地图匹配上了的角点、平面点，加入同一集合
* 4）对匹配特征点计算雅可比矩阵，观测值为特征点到直线、平面的距离，构建高斯牛顿方程，迭代优化当前位姿，存transformTobeMapped
* 3.用imu原始RPY数据与scan-to-map优化后的位姿进行加权融合，更新当前帧位姿的roll、pitch，约束z坐标
*/
void scan2MapOptimization()
{
// 要求有关键帧
if (cloudKeyPoses3D->points.empty())
return;
// 要求当前帧特征点数量足够多，且匹配的点数足够多，才执行优化
if (laserCloudCornerLastDSNum > edgeFeatureMinValidNum && laserCloudSurfLastDSNum > surfFeatureMinValidNum)
{
kdtreeCornerFromMap->setInputCloud(laserCloudCornerFromMapDS);
kdtreeSurfFromMap->setInputCloud(laserCloudSurfFromMapDS);
//迭代30次（上限）优化
for (int iterCount = 0; iterCount < 30; iterCount++)
{
//每次迭代清空特征点集合
laserCloudOri->clear();
coeffSel->clear();
//当前激光帧角点寻找局部map匹配点
//1.更新当前帧位姿，将当前帧角点坐标变换到map系下，在局部地图中查找5个最近点，距离小于1m，且5个点构成直线（用距离中心的协方差矩阵，特征值进行判断），则认为匹配上了
//2.计算当前帧角点到直线的距离、垂线的单位向量，存储为角点参数
cornerOptimization();
//当前激光帧平面点寻找局部map匹配点
//1.更新当前帧位姿，将当前帧平面点坐标变换到map系下，在局部地图中查找5个最近点，距离小于1m，且5个点构成平面（最小二乘拟合平面），则认为匹配上了
//2.计算当前帧平面点到平面的距离、垂线的单位向量，存储为平面点参数
surfOptimization();
//提取当前帧中与局部map匹配上了的角点、平面点，加入同一集合
combineOptimizationCoeffs();
//scan-to-map优化
//对匹配特征点计算雅可比矩阵，观测值为特征点到直线、平面的距离，构建高斯牛顿方程，迭代优化当前位姿，存transformTobeMapped
if (LMOptimization(iterCount) == true)
break;
}
//用imu原始RPY数据与scan-to-map优化后的位姿进行加权融合，更新当前帧位姿的roll、pitch，约束z坐标
transformUpdate();
} else {
ROS_WARN("Not enough features! Only %d edge and %d planar features available.", laserCloudCornerLastDSNum, laserCloudSurfLastDSNum);
}
}
/**
* 当前激光帧角点寻找局部map匹配点
* 1.更新当前帧位姿，将当前帧角点坐标变换到map系下，在局部map中查找5个最近点，距离小于1m，且5个点构成直线（用距离中心点的协方差矩阵，特征值进行判断），则认为匹配上了
* 2.计算当前帧角点到直线的距离、垂线的单位向量，存储为角点参数
*/
void cornerOptimization()
{
// 更新当前帧位姿
updatePointAssociateToMap();
//遍历当前帧角点集合
#pragma omp parallel for num_threads(numberOfCores)
for (int i = 0; i < laserCloudCornerLastDSNum; i++)
{
PointType pointOri, pointSel, coeff;
std::vector<int> pointSearchInd;
std::vector<float> pointSearchSqDis;
//角点（坐标还是lidar系）
pointOri = laserCloudCornerLastDS->points[i];
//根据当前帧位姿，变换到世界坐标系（map系）下
pointAssociateToMap(&pointOri, &pointSel);
//在局部角点map中查找当前角点相邻的5个角点
kdtreeCornerFromMap->nearestKSearch(pointSel, 5, pointSearchInd, pointSearchSqDis);
cv::Mat matA1(3, 3, CV_32F, cv::Scalar::all(0));
cv::Mat matD1(1, 3, CV_32F, cv::Scalar::all(0));
cv::Mat matV1(3, 3, CV_32F, cv::Scalar::all(0));
//要求距离都小于1m
if (pointSearchSqDis[4] < 1.0) {
//计算5个点的均值坐标，记为中心点
float cx = 0, cy = 0, cz = 0;
for (int j = 0; j < 5; j++) {
cx += laserCloudCornerFromMapDS->points[pointSearchInd[j]].x;
cy += laserCloudCornerFromMapDS->points[pointSearchInd[j]].y;
cz += laserCloudCornerFromMapDS->points[pointSearchInd[j]].z;
}
cx /= 5; cy /= 5; cz /= 5;
//计算协方差
float a11 = 0, a12 = 0, a13 = 0, a22 = 0, a23 = 0, a33 = 0;
for (int j = 0; j < 5; j++) {
//计算点与中心点之间的距离
float ax = laserCloudCornerFromMapDS->points[pointSearchInd[j]].x - cx;
float ay = laserCloudCornerFromMapDS->points[pointSearchInd[j]].y - cy;
float az = laserCloudCornerFromMapDS->points[pointSearchInd[j]].z - cz;
a11 += ax * ax; a12 += ax * ay; a13 += ax * az;
a22 += ay * ay; a23 += ay * az;
a33 += az * az;
}
a11 /= 5; a12 /= 5; a13 /= 5; a22 /= 5; a23 /= 5; a33 /= 5;
//构建协方差矩阵
matA1.at<float>(0, 0) = a11; matA1.at<float>(0, 1) = a12; matA1.at<float>(0, 2) = a13;
matA1.at<float>(1, 0) = a12; matA1.at<float>(1, 1) = a22; matA1.at<float>(1, 2) = a23;
matA1.at<float>(2, 0) = a13; matA1.at<float>(2, 1) = a23; matA1.at<float>(2, 2) = a33;
//特征值分解
cv::eigen(matA1, matD1, matV1);
//如果最大的特征值相比次大特征值，大很多，认为构成了线，角点是合格的
if (matD1.at<float>(0, 0) > 3 * matD1.at<float>(0, 1)) {
//当前帧角点坐标系（map系下）
float x0 = pointSel.x;
float y0 = pointSel.y;
float z0 = pointSel.z;
float x1 = cx + 0.1 * matV1.at<float>(0, 0);
float y1 = cy + 0.1 * matV1.at<float>(0, 1);
float z1 = cz + 0.1 * matV1.at<float>(0, 2);
float x2 = cx - 0.1 * matV1.at<float>(0, 0);
float y2 = cy - 0.1 * matV1.at<float>(0, 1);
float z2 = cz - 0.1 * matV1.at<float>(0, 2);
// area_012,也就是三个点组成的三角形面积*2 ， 叉积的模|axb|=a*b*sin(theta)
float a012 = sqrt(((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1)) * ((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
+ ((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1)) * ((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))
+ ((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1)) * ((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1)));
// line_12,底边边长
float l12 = sqrt((x1 - x2)*(x1 - x2) + (y1 - y2)*(y1 - y2) + (z1 - z2)*(z1 - z2));
// 两次叉积，得到点到直线的垂线段单位向量，x分量，下面同理
float la = ((y1 - y2)*((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
+ (z1 - z2)*((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))) / a012 / l12;
float lb = -((x1 - x2)*((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
- (z1 - z2)*((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1))) / a012 / l12;
float lc = -((x1 - x2)*((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))
+ (y1 - y2)*((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1))) / a012 / l12;
// 三角形的高，也就是点到直线的距离
float ld2 = a012 / l12;
//距离越大，s越小，是个距离惩罚因子（权重）
float s = 1 - 0.9 * fabs(ld2);
//点到直线的垂线段单位向量
coeff.x = s * la;
coeff.y = s * lb;
coeff.z = s * lc;
//点到直线距离
coeff.intensity = s * ld2;
if (s > 0.1) {
//当前激光帧角点，加入匹配集合中
laserCloudOriCornerVec[i] = pointOri;
//角点的参数
coeffSelCornerVec[i] = coeff;
laserCloudOriCornerFlag[i] = true;
}
}
}
}
}
/**
* 当前激光帧平面点寻找局部地图匹配点
* 1.更新当前帧位姿，将当前帧平面点坐标变换到map系下，在局部map中查找5个最近点，距离小于1m，且5个点构成平面（最小二乘拟合平面），则认为匹配上了
* 2.计算当前帧平面点到平面的距离、垂线的单位向量，存储为平面点参数
*/
void surfOptimization()
{
//更新当前帧位姿
updatePointAssociateToMap();
//遍历当前帧平面点集合
#pragma omp parallel for num_threads(numberOfCores)
for (int i = 0; i < laserCloudSurfLastDSNum; i++)
{
PointType pointOri, pointSel, coeff;
std::vector<int> pointSearchInd;
std::vector<float> pointSearchSqDis;
//平面点（坐标系还是lidar系）
pointOri = laserCloudSurfLastDS->points[i];
//根据当前帧位姿，变换到世界坐标系（map系）下
pointAssociateToMap(&pointOri, &pointSel);
//在局部平面点地图中查找当前平面点相邻的5个平面点
kdtreeSurfFromMap->nearestKSearch(pointSel, 5, pointSearchInd, pointSearchSqDis);
Eigen::Matrix<float, 5, 3> matA0;
Eigen::Matrix<float, 5, 1> matB0;
Eigen::Vector3f matX0;
matA0.setZero();
matB0.fill(-1);
matX0.setZero();
//要求距离都小于1m
if (pointSearchSqDis[4] < 1.0) {
for (int j = 0; j < 5; j++) {
matA0(j, 0) = laserCloudSurfFromMapDS->points[pointSearchInd[j]].x;
matA0(j, 1) = laserCloudSurfFromMapDS->points[pointSearchInd[j]].y;
matA0(j, 2) = laserCloudSurfFromMapDS->points[pointSearchInd[j]].z;
}
//假设平面方程为ax+by+cz+1=0，这里是求方程的系数abc，d=1
matX0 = matA0.colPivHouseholderQr().solve(matB0);
// 平面方程的系数，也是法向量的分量
float pa = matX0(0, 0);
float pb = matX0(1, 0);
float pc = matX0(2, 0);
float pd = 1;
//单位法向量
float ps = sqrt(pa * pa + pb * pb + pc * pc);
pa /= ps; pb /= ps; pc /= ps; pd /= ps;
//检查平面是否合格，如果5个点中有点到平面的距离超过0.2m，那么认为这些点太分散了，不构成平面
bool planeValid = true;
for (int j = 0; j < 5; j++) {
if (fabs(pa * laserCloudSurfFromMapDS->points[pointSearchInd[j]].x +
pb * laserCloudSurfFromMapDS->points[pointSearchInd[j]].y +
pc * laserCloudSurfFromMapDS->points[pointSearchInd[j]].z + pd) > 0.2) {
planeValid = false;
break;
}
}
//平面合格
if (planeValid) {
//当前激光帧点到平面距离
float pd2 = pa * pointSel.x + pb * pointSel.y + pc * pointSel.z + pd;
float s = 1 - 0.9 * fabs(pd2) / sqrt(sqrt(pointSel.x * pointSel.x
+ pointSel.y * pointSel.y + pointSel.z * pointSel.z));
//点到平面垂线单位法向量（其实等价于平面法向量）
coeff.x = s * pa;
coeff.y = s * pb;
coeff.z = s * pc;
//点到平面距离
coeff.intensity = s * pd2;
if (s > 0.1) {
//当前激光帧平面点，加入匹配集合中
laserCloudOriSurfVec[i] = pointOri;
//参数
coeffSelSurfVec[i] = coeff;
laserCloudOriSurfFlag[i] = true;
}
}
}
}
}
//高斯牛顿优化scan-to-map匹配
/**
* 提取当前帧中与局部地图匹配上了的角点、平面点，加入同一集合
*/
void combineOptimizationCoeffs()
{
// combine corner coeffs 联合转角系数
// 遍历当前帧角点集合，提取出与局部地图匹配上了的角点
for (int i = 0; i < laserCloudCornerLastDSNum; ++i){
if (laserCloudOriCornerFlag[i] == true){
laserCloudOri->push_back(laserCloudOriCornerVec[i]);
coeffSel->push_back(coeffSelCornerVec[i]);
}
}
// combine surf coeffs
// 遍历当前帧平面点集合，提取出与局部map匹配上了的平面点
for (int i = 0; i < laserCloudSurfLastDSNum; ++i){
if (laserCloudOriSurfFlag[i] == true){
laserCloudOri->push_back(laserCloudOriSurfVec[i]);
coeffSel->push_back(coeffSelSurfVec[i]);
}
}
// reset flag for next iteration 下一次迭代的重置标志
// 清空标志
std::fill(laserCloudOriCornerFlag.begin(), laserCloudOriCornerFlag.end(), false);
std::fill(laserCloudOriSurfFlag.begin(), laserCloudOriSurfFlag.end(), false);
}
/**
* scan-to-map优化
* 对匹配特征点计算雅可比矩阵，观测值为特征点到直线、平面的距离，构建高斯牛顿方程，迭代优化当前位姿，存transformtobemapped
* 公式推到：todo
*/
bool LMOptimization(int iterCount)
{
// This optimization is from the original loam_velodyne by Ji Zhang, need to cope with coordinate transformation
// lidar <- camera --- camera <- lidar
// x = z --- x = y
// y = x --- y = z
// z = y --- z = x
// roll = yaw --- roll = pitch
// pitch = roll --- pitch = yaw
// yaw = pitch --- yaw = roll
// lidar -> camera
float srx = sin(transformTobeMapped[1]);
float crx = cos(transformTobeMapped[1]);
float sry = sin(transformTobeMapped[2]);
float cry = cos(transformTobeMapped[2]);
float srz = sin(transformTobeMapped[0]);
float crz = cos(transformTobeMapped[0]);
// 当前帧匹配特征数量太少
int laserCloudSelNum = laserCloudOri->size();
if (laserCloudSelNum < 50) {
return false;
}
cv::Mat matA(laserCloudSelNum, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matAt(6, laserCloudSelNum, CV_32F, cv::Scalar::all(0));
cv::Mat matAtA(6, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matB(laserCloudSelNum, 1, CV_32F, cv::Scalar::all(0));
cv::Mat matAtB(6, 1, CV_32F, cv::Scalar::all(0));
cv::Mat matX(6, 1, CV_32F, cv::Scalar::all(0));
PointType pointOri, coeff;
//遍历匹配特征点，构建雅可比矩阵
for (int i = 0; i < laserCloudSelNum; i++) {
// lidar -> camera
pointOri.x = laserCloudOri->points[i].y;
pointOri.y = laserCloudOri->points[i].z;
pointOri.z = laserCloudOri->points[i].x;
// lidar -> camera
coeff.x = coeffSel->points[i].y;
coeff.y = coeffSel->points[i].z;
coeff.z = coeffSel->points[i].x;
coeff.intensity = coeffSel->points[i].intensity;
// in camera
float arx = (crx*sry*srz*pointOri.x + crx*crz*sry*pointOri.y - srx*sry*pointOri.z) * coeff.x
+ (-srx*srz*pointOri.x - crz*srx*pointOri.y - crx*pointOri.z) * coeff.y
+ (crx*cry*srz*pointOri.x + crx*cry*crz*pointOri.y - cry*srx*pointOri.z) * coeff.z;
float ary = ((cry*srx*srz - crz*sry)*pointOri.x
+ (sry*srz + cry*crz*srx)*pointOri.y + crx*cry*pointOri.z) * coeff.x
+ ((-cry*crz - srx*sry*srz)*pointOri.x
+ (cry*srz - crz*srx*sry)*pointOri.y - crx*sry*pointOri.z) * coeff.z;
float arz = ((crz*srx*sry - cry*srz)*pointOri.x + (-cry*crz-srx*sry*srz)*pointOri.y)*coeff.x
+ (crx*crz*pointOri.x - crx*srz*pointOri.y) * coeff.y
+ ((sry*srz + cry*crz*srx)*pointOri.x + (crz*sry-cry*srx*srz)*pointOri.y)*coeff.z;
// lidar -> camera
matA.at<float>(i, 0) = arz;
matA.at<float>(i, 1) = arx;
matA.at<float>(i, 2) = ary;
matA.at<float>(i, 3) = coeff.z;
matA.at<float>(i, 4) = coeff.x;
matA.at<float>(i, 5) = coeff.y;
// 点到直线距离、平面距离，作为观测值
matB.at<float>(i, 0) = -coeff.intensity;
}
cv::transpose(matA, matAt);
matAtA = matAt * matA;
matAtB = matAt * matB;
// J^T·J·delta_x = -J^T·f 高斯牛顿
cv::solve(matAtA, matAtB, matX, cv::DECOMP_QR);
//首次迭代，检查近似Hessian矩阵（J^T·J）是否退化，或者称为奇异，行列式值=0 todo
if (iterCount == 0) {
cv::Mat matE(1, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matV(6, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matV2(6, 6, CV_32F, cv::Scalar::all(0));
cv::eigen(matAtA, matE, matV);
matV.copyTo(matV2);
isDegenerate = false;
float eignThre[6] = {100, 100, 100, 100, 100, 100};
for (int i = 5; i >= 0; i--) {
if (matE.at<float>(0, i) < eignThre[i]) {
for (int j = 0; j < 6; j++) {
matV2.at<float>(i, j) = 0;
}
isDegenerate = true;
} else {
break;
}
}
matP = matV.inv() * matV2;
}
if (isDegenerate)
{
cv::Mat matX2(6, 1, CV_32F, cv::Scalar::all(0));
matX.copyTo(matX2);
matX = matP * matX2;
}
// 更新当前帧位姿 x = x + delta_x
transformTobeMapped[0] += matX.at<float>(0, 0);
transformTobeMapped[1] += matX.at<float>(1, 0);
transformTobeMapped[2] += matX.at<float>(2, 0);
transformTobeMapped[3] += matX.at<float>(3, 0);
transformTobeMapped[4] += matX.at<float>(4, 0);
transformTobeMapped[5] += matX.at<float>(5, 0);
float deltaR = sqrt(
pow(pcl::rad2deg(matX.at<float>(0, 0)), 2) +
pow(pcl::rad2deg(matX.at<float>(1, 0)), 2) +
pow(pcl::rad2deg(matX.at<float>(2, 0)), 2));
float deltaT = sqrt(
pow(matX.at<float>(3, 0) * 100, 2) +
pow(matX.at<float>(4, 0) * 100, 2) +
pow(matX.at<float>(5, 0) * 100, 2));
// delta_x很小，认为收敛
if (deltaR < 0.05 && deltaT < 0.05) {
return true; // converged 收敛
}
return false; // keep optimizing
}
//位姿更新
/**
* 用imu原始RPY数据与scan-to-map优化后的位姿进行加权融合，更新当前帧位姿的roll、pitch，约束z坐标
*/
void transformUpdate()
{
if (cloudInfo.imuAvailable == true)
{
//俯仰角小于1.4
if (std::abs(cloudInfo.imuPitchInit) < 1.4)
{
double imuWeight = imuRPYWeight;
tf::Quaternion imuQuaternion;
tf::Quaternion transformQuaternion;
double rollMid, pitchMid, yawMid;
// slerp roll
// roll角求加权均值，用scan-to-map优化得到的位姿与imu原始RPY数据，进行加权平均
transformQuaternion.setRPY(transformTobeMapped[0], 0, 0);
imuQuaternion.setRPY(cloudInfo.imuRollInit, 0, 0);
tf::Matrix3x3(transformQuaternion.slerp(imuQuaternion, imuWeight)).getRPY(rollMid, pitchMid, yawMid);
transformTobeMapped[0] = rollMid;
// slerp pitch
// pitch角加权均值，用scan-to-map优化得到的位姿与imu原始RPY数据，进行加权平均
transformQuaternion.setRPY(0, transformTobeMapped[1], 0);
imuQuaternion.setRPY(0, cloudInfo.imuPitchInit, 0);
tf::Matrix3x3(transformQuaternion.slerp(imuQuaternion, imuWeight)).getRPY(rollMid, pitchMid, yawMid);
transformTobeMapped[1] = pitchMid;
}
}
//更新当前帧位姿的roll，pitch，z坐标；因为是小车，roll、pitch是相对稳定的，不会有很大变动，一定程度上可以信赖imu数据，z是进行高度约束
transformTobeMapped[0] = constraintTransformation(transformTobeMapped[0], rotation_tollerance);
transformTobeMapped[1] = constraintTransformation(transformTobeMapped[1], rotation_tollerance);
transformTobeMapped[5] = constraintTransformation(transformTobeMapped[5], z_tollerance);
//当前帧位姿
incrementalOdometryAffineBack = trans2Affine3f(transformTobeMapped);
}
/**
* 值约束
*/
float constraintTransformation(float value, float limit)
{
if (value < -limit)
value = -limit;
if (value > limit)
value = limit;
return value;
}
5.设置当前帧为关键帧并执行因子图优化
//因子图优化，更新所有关键帧位姿
/**
* 设置当前帧为关键帧并执行因子图优化
* 1.计算当前帧与前一帧位姿变化，如果变化太小，不设为关键帧，反之设为关键帧
* 2.添加激光里程计因子、GPS因子、闭环因子
* 3.执行因子图优化
* 4.得到当前帧优化后位姿，位姿协方差
* 5.添加cloudKeyPoses3D,cloudKeyPoses6D,更新transformToboMapped,添加当前关键帧的角点、平面点集合
*/
void saveKeyFramesAndFactor()
{
//计算当前帧与前一帧位姿变换，如果变化太小，不设为关键帧，反之设为关键帧
if (saveFrame() == false)
return;
// 激光里程计因子
addOdomFactor();
// GPS因子
addGPSFactor();
// 闭环因子
addLoopFactor();
// cout << "****************************************************" << endl;
// gtSAMgraph.print("GTSAM Graph:\n");
// 执行优化
isam->update(gtSAMgraph, initialEstimate);
isam->update();
if (aLoopIsClosed == true)
{
isam->update();
isam->update();
isam->update();
isam->update();
isam->update();
}
//update之后要清空一下保存的因子图，注：历史数据不会被清掉，ISAM保存起来了
gtSAMgraph.resize(0);
initialEstimate.clear();
//save key poses
PointType thisPose3D;
PointTypePose thisPose6D;
Pose3 latestEstimate;
//优化结果
isamCurrentEstimate = isam->calculateEstimate();
//当前帧位姿结果
latestEstimate = isamCurrentEstimate.at<Pose3>(isamCurrentEstimate.size()-1);
// cout << "****************************************************" << endl;
// isamCurrentEstimate.print("Current estimate: ");
//cloudKeyPoses3D 加入当前帧位姿
thisPose3D.x = latestEstimate.translation().x();
thisPose3D.y = latestEstimate.translation().y();
thisPose3D.z = latestEstimate.translation().z();
//索引
thisPose3D.intensity = cloudKeyPoses3D->size(); // this can be used as index
cloudKeyPoses3D->push_back(thisPose3D);
//cloudKeyPoses6D加入当前帧位姿
thisPose6D.x = thisPose3D.x;
thisPose6D.y = thisPose3D.y;
thisPose6D.z = thisPose3D.z;
thisPose6D.intensity = thisPose3D.intensity ; // this can be used as index
thisPose6D.roll = latestEstimate.rotation().roll();
thisPose6D.pitch = latestEstimate.rotation().pitch();
thisPose6D.yaw = latestEstimate.rotation().yaw();
thisPose6D.time = timeLaserInfoCur;
cloudKeyPoses6D->push_back(thisPose6D);
// cout << "****************************************************" << endl;
// cout << "Pose covariance:" << endl;
// cout << isam->marginalCovariance(isamCurrentEstimate.size()-1) << endl << endl;
//位姿协方差
poseCovariance = isam->marginalCovariance(isamCurrentEstimate.size()-1);
// save updated transform
// transformTobeMapped 更新当前帧位姿
transformTobeMapped[0] = latestEstimate.rotation().roll();
transformTobeMapped[1] = latestEstimate.rotation().pitch();
transformTobeMapped[2] = latestEstimate.rotation().yaw();
transformTobeMapped[3] = latestEstimate.translation().x();
transformTobeMapped[4] = latestEstimate.translation().y();
transformTobeMapped[5] = latestEstimate.translation().z();
// save all the received edge and surf points
// 当前激光帧角点、平面点，降采样集合
pcl::PointCloud<PointType>::Ptr thisCornerKeyFrame(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr thisSurfKeyFrame(new pcl::PointCloud<PointType>());
pcl::copyPointCloud(*laserCloudCornerLastDS, *thisCornerKeyFrame);
pcl::copyPointCloud(*laserCloudSurfLastDS, *thisSurfKeyFrame);
// save key frame cloud
// 保存特征点降采样集合
cornerCloudKeyFrames.push_back(thisCornerKeyFrame);
surfCloudKeyFrames.push_back(thisSurfKeyFrame);
// save path for visualization 为可视化保存路径
// 更新里程计轨迹
updatePath(thisPose6D);
}
//关键帧判断
/**
* 计算当前帧与前一帧位姿变换，如果变化太小，不设为关键帧，反之设为关键帧
*/
bool saveFrame()
{
if (cloudKeyPoses3D->points.empty())
return true;
//前一帧位姿
Eigen::Affine3f transStart = pclPointToAffine3f(cloudKeyPoses6D->back());
//当前帧位姿
Eigen::Affine3f transFinal = pcl::getTransformation(transformTobeMapped[3], transformTobeMapped[4], transformTobeMapped[5],
transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]);
//位姿变换增量
Eigen::Affine3f transBetween = transStart.inverse() * transFinal;
float x, y, z, roll, pitch, yaw;
pcl::getTranslationAndEulerAngles(transBetween, x, y, z, roll, pitch, yaw);
//旋转和平移量都较小，当前帧不设为关键帧
if (abs(roll) < surroundingkeyframeAddingAngleThreshold &&
abs(pitch) < surroundingkeyframeAddingAngleThreshold &&
abs(yaw) < surroundingkeyframeAddingAngleThreshold &&
sqrt(x*x + y*y + z*z) < surroundingkeyframeAddingDistThreshold)
return false;
return true;
}
/**
* 添加激光里程计因子
*/
void addOdomFactor()
{
if (cloudKeyPoses3D->points.empty())
{
// 第一帧初始化先验因子
noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Variances((Vector(6) << 1e-2, 1e-2, M_PI*M_PI, 1e8, 1e8, 1e8).finished()); // rad*rad, meter*meter
gtSAMgraph.add(PriorFactor<Pose3>(0, trans2gtsamPose(transformTobeMapped), priorNoise));
// 变量节点设置初始值
initialEstimate.insert(0, trans2gtsamPose(transformTobeMapped));
}else{
// 添加激光里程计因子
noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
gtsam::Pose3 poseFrom = pclPointTogtsamPose3(cloudKeyPoses6D->points.back());
gtsam::Pose3 poseTo = trans2gtsamPose(transformTobeMapped);
// 参数：前一帧id，当前帧id，前一帧与当前帧的位姿变换（作为观测值），噪声协方差
gtSAMgraph.add(BetweenFactor<Pose3>(cloudKeyPoses3D->size()-1, cloudKeyPoses3D->size(), poseFrom.between(poseTo), odometryNoise));
// 变量节点设置初始值
initialEstimate.insert(cloudKeyPoses3D->size(), poseTo);
}
}
/**
* 添加GPS因子
*/
void addGPSFactor()
{
if (gpsQueue.empty())
return;
// wait for system initialized and settles down
// 如果没有关键帧，或者首尾关键帧距离小于5m，不添加gps因子
if (cloudKeyPoses3D->points.empty())
return;
else
{
if (pointDistance(cloudKeyPoses3D->front(), cloudKeyPoses3D->back()) < 5.0)
return;
}
// pose covariance small, no need to correct
// 位姿协方差很小，没必要加入GPS数据进行校正
if (poseCovariance(3,3) < poseCovThreshold && poseCovariance(4,4) < poseCovThreshold)
return;
// last gps position
static PointType lastGPSPoint;
while (!gpsQueue.empty())
{
// 删除当前帧0.2s之前的里程计
if (gpsQueue.front().header.stamp.toSec() < timeLaserInfoCur - 0.2)
{
// message too old
gpsQueue.pop_front();
}
// 超过当前帧0.2s之后，退出
else if (gpsQueue.front().header.stamp.toSec() > timeLaserInfoCur + 0.2)
{
// message too new
break;
}
else
{
nav_msgs::Odometry thisGPS = gpsQueue.front();
gpsQueue.pop_front();
// GPS too noisy, skip
// GPS噪声协方差太大，不能用
float noise_x = thisGPS.pose.covariance[0];
float noise_y = thisGPS.pose.covariance[7];
float noise_z = thisGPS.pose.covariance[14];
if (noise_x > gpsCovThreshold || noise_y > gpsCovThreshold)
continue;
// GPS里程计位置
float gps_x = thisGPS.pose.pose.position.x;
float gps_y = thisGPS.pose.pose.position.y;
float gps_z = thisGPS.pose.pose.position.z;
if (!useGpsElevation)
{
gps_z = transformTobeMapped[5];
noise_z = 0.01;
}
// GPS not properly initialized (0,0,0)
// (0,0,0)无效数据
if (abs(gps_x) < 1e-6 && abs(gps_y) < 1e-6)
continue;
// Add GPS every a few meters
// 每隔5m添加一个GPS里程计
PointType curGPSPoint;
curGPSPoint.x = gps_x;
curGPSPoint.y = gps_y;
curGPSPoint.z = gps_z;
if (pointDistance(curGPSPoint, lastGPSPoint) < 5.0)
continue;
else
lastGPSPoint = curGPSPoint;
// 添加GPS因子
gtsam::Vector Vector3(3);
Vector3 << max(noise_x, 1.0f), max(noise_y, 1.0f), max(noise_z, 1.0f);
noiseModel::Diagonal::shared_ptr gps_noise = noiseModel::Diagonal::Variances(Vector3);
gtsam::GPSFactor gps_factor(cloudKeyPoses3D->size(), gtsam::Point3(gps_x, gps_y, gps_z), gps_noise);
gtSAMgraph.add(gps_factor);
aLoopIsClosed = true;
break;
}
}
}
/**
* 添加闭环因子
*/
void addLoopFactor()
{
if (loopIndexQueue.empty())
return;
// 闭环队列
for (int i = 0; i < (int)loopIndexQueue.size(); ++i)
{
// 闭环边对应两帧的索引
int indexFrom = loopIndexQueue[i].first;
int indexTo = loopIndexQueue[i].second;
// 闭环边的位姿变换
gtsam::Pose3 poseBetween = loopPoseQueue[i];
gtsam::noiseModel::Diagonal::shared_ptr noiseBetween = loopNoiseQueue[i];
gtSAMgraph.add(BetweenFactor<Pose3>(indexFrom, indexTo, poseBetween, noiseBetween));
}
loopIndexQueue.clear();
loopPoseQueue.clear();
loopNoiseQueue.clear();
aLoopIsClosed = true;
}
/**
* 更新里程计轨迹
*/
void updatePath(const PointTypePose& pose_in)
{
geometry_msgs::PoseStamped pose_stamped;
pose_stamped.header.stamp = ros::Time().fromSec(pose_in.time);
pose_stamped.header.frame_id = odometryFrame;
pose_stamped.pose.position.x = pose_in.x;
pose_stamped.pose.position.y = pose_in.y;
pose_stamped.pose.position.z = pose_in.z;
tf::Quaternion q = tf::createQuaternionFromRPY(pose_in.roll, pose_in.pitch, pose_in.yaw);
pose_stamped.pose.orientation.x = q.x();
pose_stamped.pose.orientation.y = q.y();
pose_stamped.pose.orientation.z = q.z();
pose_stamped.pose.orientation.w = q.w();
globalPath.poses.push_back(pose_stamped);
}
6.更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿，更新里程计轨迹
/**
* 更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿，更新里程计位姿
*/
void correctPoses()
{
if (cloudKeyPoses3D->points.empty())
return;
if (aLoopIsClosed == true)
{
// clear map cache 清空局部地图
laserCloudMapContainer.clear();
// clear path 清空里程计轨迹
globalPath.poses.clear();
// update key poses
// 更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿
int numPoses = isamCurrentEstimate.size();
for (int i = 0; i < numPoses; ++i)
{
cloudKeyPoses3D->points[i].x = isamCurrentEstimate.at<Pose3>(i).translation().x();
cloudKeyPoses3D->points[i].y = isamCurrentEstimate.at<Pose3>(i).translation().y();
cloudKeyPoses3D->points[i].z = isamCurrentEstimate.at<Pose3>(i).translation().z();
cloudKeyPoses6D->points[i].x = cloudKeyPoses3D->points[i].x;
cloudKeyPoses6D->points[i].y = cloudKeyPoses3D->points[i].y;
cloudKeyPoses6D->points[i].z = cloudKeyPoses3D->points[i].z;
cloudKeyPoses6D->points[i].roll = isamCurrentEstimate.at<Pose3>(i).rotation().roll();
cloudKeyPoses6D->points[i].pitch = isamCurrentEstimate.at<Pose3>(i).rotation().pitch();
cloudKeyPoses6D->points[i].yaw = isamCurrentEstimate.at<Pose3>(i).rotation().yaw();
//更新里程计轨迹
updatePath(cloudKeyPoses6D->points[i]);
}
aLoopIsClosed = false;
}
}
/**
* 更新里程计轨迹
*/
void updatePath(const PointTypePose& pose_in)
{
geometry_msgs::PoseStamped pose_stamped;
pose_stamped.header.stamp = ros::Time().fromSec(pose_in.time);
pose_stamped.header.frame_id = odometryFrame;
pose_stamped.pose.position.x = pose_in.x;
pose_stamped.pose.position.y = pose_in.y;
pose_stamped.pose.position.z = pose_in.z;
tf::Quaternion q = tf::createQuaternionFromRPY(pose_in.roll, pose_in.pitch, pose_in.yaw);
pose_stamped.pose.orientation.x = q.x();
pose_stamped.pose.orientation.y = q.y();
pose_stamped.pose.orientation.z = q.z();
pose_stamped.pose.orientation.w = q.w();
globalPath.poses.push_back(pose_stamped);
}
7.发布激光里程计
//发布激光里程计
void publishOdometry()
{
// Publish odometry for ROS (global)
// 发布激光里程计，odom等价map
nav_msgs::Odometry laserOdometryROS;
laserOdometryROS.header.stamp = timeLaserInfoStamp;
laserOdometryROS.header.frame_id = odometryFrame;
laserOdometryROS.child_frame_id = "odom_mapping";
laserOdometryROS.pose.pose.position.x = transformTobeMapped[3];
laserOdometryROS.pose.pose.position.y = transformTobeMapped[4];
laserOdometryROS.pose.pose.position.z = transformTobeMapped[5];
laserOdometryROS.pose.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]);
pubLaserOdometryGlobal.publish(laserOdometryROS);
// Publish TF
// 发布TF，odom->lidar
static tf::TransformBroadcaster br;
tf::Transform t_odom_to_lidar = tf::Transform(tf::createQuaternionFromRPY(transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]),
tf::Vector3(transformTobeMapped[3], transformTobeMapped[4], transformTobeMapped[5]));
tf::StampedTransform trans_odom_to_lidar = tf::StampedTransform(t_odom_to_lidar, timeLaserInfoStamp, odometryFrame, "lidar_link");
br.sendTransform(trans_odom_to_lidar);
// Publish odometry for ROS (incremental)
static bool lastIncreOdomPubFlag = false;
static nav_msgs::Odometry laserOdomIncremental; // incremental odometry msg
static Eigen::Affine3f increOdomAffine; // incremental odometry in affine
if (lastIncreOdomPubFlag == false)
{
lastIncreOdomPubFlag = true;
laserOdomIncremental = laserOdometryROS;
increOdomAffine = trans2Affine3f(transformTobeMapped);
} else {
// 当前帧与前一帧之间的位姿变换
Eigen::Affine3f affineIncre = incrementalOdometryAffineFront.inverse() * incrementalOdometryAffineBack;
// 还是当前帧位姿（打印一下数据，可以看到与激光里程计的位姿transformTobeMapped是一样的）
increOdomAffine = increOdomAffine * affineIncre;
float x, y, z, roll, pitch, yaw;
pcl::getTranslationAndEulerAngles (increOdomAffine, x, y, z, roll, pitch, yaw);
if (cloudInfo.imuAvailable == true)
{
if (std::abs(cloudInfo.imuPitchInit) < 1.4)
{
double imuWeight = 0.1;
tf::Quaternion imuQuaternion;
tf::Quaternion transformQuaternion;
double rollMid, pitchMid, yawMid;
// slerp roll
// roll姿态角加权平均
transformQuaternion.setRPY(roll, 0, 0);
imuQuaternion.setRPY(cloudInfo.imuRollInit, 0, 0);
tf::Matrix3x3(transformQuaternion.slerp(imuQuaternion, imuWeight)).getRPY(rollMid, pitchMid, yawMid);
roll = rollMid;
// slerp pitch
// pitch姿态角加权平均
transformQuaternion.setRPY(0, pitch, 0);
imuQuaternion.setRPY(0, cloudInfo.imuPitchInit, 0);
tf::Matrix3x3(transformQuaternion.slerp(imuQuaternion, imuWeight)).getRPY(rollMid, pitchMid, yawMid);
pitch = pitchMid;
}
}
laserOdomIncremental.header.stamp = timeLaserInfoStamp;
laserOdomIncremental.header.frame_id = odometryFrame;
laserOdomIncremental.child_frame_id = "odom_mapping";
laserOdomIncremental.pose.pose.position.x = x;
laserOdomIncremental.pose.pose.position.y = y;
laserOdomIncremental.pose.pose.position.z = z;
laserOdomIncremental.pose.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
if (isDegenerate)
laserOdomIncremental.pose.covariance[0] = 1;
else
laserOdomIncremental.pose.covariance[0] = 0;
}
pubLaserOdometryIncremental.publish(laserOdomIncremental);
}
8.发布里程计、点云、轨迹
//发布里程计、点云、轨迹
//1.发布历史关键帧位姿集合
//2.发布局地图降采样平面点集合
//3.发布历史帧（累加的）的角点、平面点降采样集合
//4.发布里程计轨迹
void publishFrames()
{
if (cloudKeyPoses3D->points.empty())
return;
// 发布历史关键帧位姿集合
publishCloud(&pubKeyPoses, cloudKeyPoses3D, timeLaserInfoStamp, odometryFrame);
// 发布局部map的降采样平面点集合
publishCloud(&pubRecentKeyFrames, laserCloudSurfFromMapDS, timeLaserInfoStamp, odometryFrame);
// 发布历史帧（累加的）的角点、平面点降采样集合
if (pubRecentKeyFrame.getNumSubscribers() != 0)
{
pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());
PointTypePose thisPose6D = trans2PointTypePose(transformTobeMapped);
*cloudOut += *transformPointCloud(laserCloudCornerLastDS, &thisPose6D);
*cloudOut += *transformPointCloud(laserCloudSurfLastDS, &thisPose6D);
publishCloud(&pubRecentKeyFrame, cloudOut, timeLaserInfoStamp, odometryFrame);
}
// publish registered high-res raw cloud 发布配准的高分辨率原始云
if (pubCloudRegisteredRaw.getNumSubscribers() != 0)
{
pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());
pcl::fromROSMsg(cloudInfo.cloud_deskewed, *cloudOut);
PointTypePose thisPose6D = trans2PointTypePose(transformTobeMapped);
*cloudOut = *transformPointCloud(cloudOut, &thisPose6D);
publishCloud(&pubCloudRegisteredRaw, cloudOut, timeLaserInfoStamp, odometryFrame);
}
// publish path 发布里程计轨迹
if (pubPath.getNumSubscribers() != 0)
{
globalPath.header.stamp = timeLaserInfoStamp;
globalPath.header.frame_id = odometryFrame;
pubPath.publish(globalPath);
}
}
};
订阅GPS里程计：
/**
* 订阅GPS里程计，添加到GPS里程计队列
*/
void gpsHandler(const nav_msgs::Odometry::ConstPtr& gpsMsg)
{
gpsQueue.push_back(*gpsMsg);
}
订阅来自外部闭环检测程序提供的闭环数据，本程序没有提供，这里实际没用上
/**
* 订阅来自外部闭环检测程序提供的闭环数据，本程序没有提供，这里实际没用上
*/
void loopInfoHandler(const std_msgs::Float64MultiArray::ConstPtr& loopMsg)
{
std::lock_guard<std::mutex> lock(mtxLoopInfo);
if (loopMsg->data.size() != 2)
return;
loopInfoVec.push_back(*loopMsg);
while (loopInfoVec.size() > 5)
loopInfoVec.pop_front();
}
保存全局关键帧特征点集合
/**
* 保存全局关键帧特征点集合
*/
bool saveMapService(lio_sam::save_mapRequest& req, lio_sam::save_mapResponse& res)
{
string saveMapDirectory;
cout << "****************************************************" << endl;
cout << "Saving map to pcd files ..." << endl;
if(req.destination.empty()) saveMapDirectory = std::getenv("HOME") + savePCDDirectory;
else saveMapDirectory = std::getenv("HOME") + req.destination;
cout << "Save destination: " << saveMapDirectory << endl;
// create directory and remove old files;
int unused = system((std::string("exec rm -r ") + saveMapDirectory).c_str());
unused = system((std::string("mkdir -p ") + saveMapDirectory).c_str());
// save key frame transformations
pcl::io::savePCDFileBinary(saveMapDirectory + "/trajectory.pcd", *cloudKeyPoses3D);
pcl::io::savePCDFileBinary(saveMapDirectory + "/transformations.pcd", *cloudKeyPoses6D);
// extract global point cloud map 提取历史关键帧角点、平面点集合
pcl::PointCloud<PointType>::Ptr globalCornerCloud(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr globalCornerCloudDS(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr globalSurfCloud(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr globalSurfCloudDS(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr globalMapCloud(new pcl::PointCloud<PointType>());
for (int i = 0; i < (int)cloudKeyPoses3D->size(); i++) {
*globalCornerCloud += *transformPointCloud(cornerCloudKeyFrames[i], &cloudKeyPoses6D->points[i]);
*globalSurfCloud += *transformPointCloud(surfCloudKeyFrames[i], &cloudKeyPoses6D->points[i]);
cout << "\r" << std::flush << "Processing feature cloud " << i << " of " << cloudKeyPoses6D->size() << " ...";
}
if(req.resolution != 0)
{
cout << "\n\nSave resolution: " << req.resolution << endl;
// down-sample and save corner cloud
// 降采样
downSizeFilterCorner.setInputCloud(globalCornerCloud);
downSizeFilterCorner.setLeafSize(req.resolution, req.resolution, req.resolution);
downSizeFilterCorner.filter(*globalCornerCloudDS);
pcl::io::savePCDFileBinary(saveMapDirectory + "/CornerMap.pcd", *globalCornerCloudDS);
// down-sample and save surf cloud
// 降采样
downSizeFilterSurf.setInputCloud(globalSurfCloud);
downSizeFilterSurf.setLeafSize(req.resolution, req.resolution, req.resolution);
downSizeFilterSurf.filter(*globalSurfCloudDS);
pcl::io::savePCDFileBinary(saveMapDirectory + "/SurfMap.pcd", *globalSurfCloudDS);
}
else
{
// save corner cloud
pcl::io::savePCDFileBinary(saveMapDirectory + "/CornerMap.pcd", *globalCornerCloud);
// save surf cloud
pcl::io::savePCDFileBinary(saveMapDirectory + "/SurfMap.pcd", *globalSurfCloud);
}
// save global point cloud map
// 保存到一起，全局关键帧特征点集合
*globalMapCloud += *globalCornerCloud;
*globalMapCloud += *globalSurfCloud;
int ret = pcl::io::savePCDFileBinary(saveMapDirectory + "/GlobalMap.pcd", *globalMapCloud);
res.success = ret == 0;
downSizeFilterCorner.setLeafSize(mappingCornerLeafSize, mappingCornerLeafSize, mappingCornerLeafSize);
downSizeFilterSurf.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
cout << "****************************************************" << endl;
cout << "Saving map to pcd files completed\n" << endl;
return true;
}
格式变换：
/**
* 激光坐标系下的激光点，通过激光帧位姿，变换到世界坐标系下
*/
void pointAssociateToMap(PointType const * const pi, PointType * const po)
{
po->x = transPointAssociateToMap(0,0) * pi->x + transPointAssociateToMap(0,1) * pi->y + transPointAssociateToMap(0,2) * pi->z + transPointAssociateToMap(0,3);
po->y = transPointAssociateToMap(1,0) * pi->x + transPointAssociateToMap(1,1) * pi->y + transPointAssociateToMap(1,2) * pi->z + transPointAssociateToMap(1,3);
po->z = transPointAssociateToMap(2,0) * pi->x + transPointAssociateToMap(2,1) * pi->y + transPointAssociateToMap(2,2) * pi->z + transPointAssociateToMap(2,3);
po->intensity = pi->intensity;
}
/**
* 对点云cloudIn进行变换transformIn，返回结果点云
*/
pcl::PointCloud<PointType>::Ptr transformPointCloud(pcl::PointCloud<PointType>::Ptr cloudIn, PointTypePose* transformIn)
{
pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());
int cloudSize = cloudIn->size();
cloudOut->resize(cloudSize);
Eigen::Affine3f transCur = pcl::getTransformation(transformIn->x, transformIn->y, transformIn->z, transformIn->roll, transformIn->pitch, transformIn->yaw);
#pragma omp parallel for num_threads(numberOfCores)
for (int i = 0; i < cloudSize; ++i)
{
const auto &pointFrom = cloudIn->points[i];
cloudOut->points[i].x = transCur(0,0) * pointFrom.x + transCur(0,1) * pointFrom.y + transCur(0,2) * pointFrom.z + transCur(0,3);
cloudOut->points[i].y = transCur(1,0) * pointFrom.x + transCur(1,1) * pointFrom.y + transCur(1,2) * pointFrom.z + transCur(1,3);
cloudOut->points[i].z = transCur(2,0) * pointFrom.x + transCur(2,1) * pointFrom.y + transCur(2,2) * pointFrom.z + transCur(2,3);
cloudOut->points[i].intensity = pointFrom.intensity;
}
return cloudOut;
}
/**
* 位姿格式变换
*/
gtsam::Pose3 pclPointTogtsamPose3(PointTypePose thisPoint)
{
return gtsam::Pose3(gtsam::Rot3::RzRyRx(double(thisPoint.roll), double(thisPoint.pitch), double(thisPoint.yaw)),
gtsam::Point3(double(thisPoint.x), double(thisPoint.y), double(thisPoint.z)));
}
/**
* 位姿格式变换
*/
gtsam::Pose3 trans2gtsamPose(float transformIn[])
{
return gtsam::Pose3(gtsam::Rot3::RzRyRx(transformIn[0], transformIn[1], transformIn[2]),
gtsam::Point3(transformIn[3], transformIn[4], transformIn[5]));
}
/**
* Eigen格式的位姿变换
*/
Eigen::Affine3f pclPointToAffine3f(PointTypePose thisPoint)
{
return pcl::getTransformation(thisPoint.x, thisPoint.y, thisPoint.z, thisPoint.roll, thisPoint.pitch, thisPoint.yaw);
}
/**
* Eigen格式的位姿变换
*/
Eigen::Affine3f trans2Affine3f(float transformIn[])
{
return pcl::getTransformation(transformIn[3], transformIn[4], transformIn[5], transformIn[0], transformIn[1], transformIn[2]);
}
/**
* 位姿格式变换
*/
PointTypePose trans2PointTypePose(float transformIn[])
{
PointTypePose thisPose6D;
thisPose6D.x = transformIn[3];
thisPose6D.y = transformIn[4];
thisPose6D.z = transformIn[5];
thisPose6D.roll = transformIn[0];
thisPose6D.pitch = transformIn[1];
thisPose6D.yaw = transformIn[2];
return thisPose6D;
}
线程：
/**
* 闭环线程
* 1.闭环scan-to-map,icp优化位姿
* 1）在历史关键帧中查找与当前关键帧距离最近的关键帧集合，选择时间相隔较远的一帧作为候选闭环帧
* 2）提取当前关键帧特征点集合，降采样；提取闭环匹配关键帧前后相邻若干帧的关键帧特征点集合，降采样
* 3）执行scan-to-map 优化，调用icp方法，得到优化后位姿，构造闭环因子需要的数据，在因子图优化中一并加入更新位姿
* 2.rviz展示闭环边
*/
void loopClosureThread()
{
if (loopClosureEnableFlag == false)
return;
ros::Rate rate(loopClosureFrequency); //定义发布的频率
//循环发布msg
//一旦发生异常ros::ok（）就会返回false，跳出循环
while (ros::ok())
{
//根据前面定义的频率设置暂停
rate.sleep();
//闭环scan-to-map,icp优化位姿
//1.在历史关键帧中查找与当前关键帧距离最近的关键帧集合，选择时间相隔较远的一帧作为候选闭环帧
//2.提取当前关键帧特征点集合，降采样；提取闭环匹配关键帧前后相邻若干帧的关键帧特征点集合，降采样
//3.执行scan-to-map优化，调用icp方法，得到优化后位姿，构造闭环因子需要的数据，在因子图优化中一并加入更新位姿
//注：闭环的时候没有立即更新当前帧的位姿，而是添加闭环因子，让图优化去更新位姿
performLoopClosure();
//在rviz中展示闭环边
visualizeLoopClosure();
}
}
/**
* 闭环scan-to-map，icp优化位姿
* 1.在历史关键帧中查找与当前关键帧距离最近的关键帧集合，选择时间间隔较远的一帧作为候选闭环帧
* 2.提取当前关键帧特征点集合，降采样；提取闭环匹配关键帧前后相邻若干帧的关键帧特征点集合，降采样
* 3.执行scan-to-map优化，调用icp方法，得到优化后位姿，构造闭环因子需要的数据，在因子图优化中一并加入更新位姿
* 注：闭环的时候没有立即更新当前帧的位姿，而是添加闭环因子，让图优化去更新位姿
*/
void performLoopClosure()
{
if (cloudKeyPoses3D->points.empty() == true)
return;
mtx.lock();
*copy_cloudKeyPoses3D = *cloudKeyPoses3D;
*copy_cloudKeyPoses6D = *cloudKeyPoses6D;
mtx.unlock();
// find keys
// 当前关键帧索引，候选闭环匹配帧索引
int loopKeyCur;
int loopKeyPre;
//没有使用
if (detectLoopClosureExternal(&loopKeyCur, &loopKeyPre) == false)
//在历史关键帧中查找与当前关键帧距离最近的关键帧集合，选择时间相隔较远的一帧作为候选闭环帧
if (detectLoopClosureDistance(&loopKeyCur, &loopKeyPre) == false)
return;
// extract cloud 提取
pcl::PointCloud<PointType>::Ptr cureKeyframeCloud(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr prevKeyframeCloud(new pcl::PointCloud<PointType>());
{
//提取当前关键帧特征点集合，降采样
loopFindNearKeyframes(cureKeyframeCloud, loopKeyCur, 0);
//提取闭环匹配关键帧前后相邻若干帧的关键帧特征点集合，降采样
loopFindNearKeyframes(prevKeyframeCloud, loopKeyPre, historyKeyframeSearchNum);
//如果特征点数量较少，返回
if (cureKeyframeCloud->size() < 300 || prevKeyframeCloud->size() < 1000)
return;
// 发布闭环匹配关键帧局部map
if (pubHistoryKeyFrames.getNumSubscribers() != 0)
publishCloud(&pubHistoryKeyFrames, prevKeyframeCloud, timeLaserInfoStamp, odometryFrame);
}
// ICP 参数设置
static pcl::IterativeClosestPoint<PointType, PointType> icp;
icp.setMaxCorrespondenceDistance(historyKeyframeSearchRadius*2);
icp.setMaximumIterations(100);
icp.setTransformationEpsilon(1e-6);
icp.setEuclideanFitnessEpsilon(1e-6);
icp.setRANSACIterations(0);
// Align clouds
// scan-to-map ，调用icp匹配
icp.setInputSource(cureKeyframeCloud);
icp.setInputTarget(prevKeyframeCloud);
pcl::PointCloud<PointType>::Ptr unused_result(new pcl::PointCloud<PointType>());
icp.align(*unused_result);
//未收敛，或者匹配不够好
if (icp.hasConverged() == false || icp.getFitnessScore() > historyKeyframeFitnessScore)
return;
// publish corrected cloud
// 发布当前关键帧经过闭环优化后的位姿变换之后的特征点云
if (pubIcpKeyFrames.getNumSubscribers() != 0)
{
pcl::PointCloud<PointType>::Ptr closed_cloud(new pcl::PointCloud<PointType>());
pcl::transformPointCloud(*cureKeyframeCloud, *closed_cloud, icp.getFinalTransformation());
publishCloud(&pubIcpKeyFrames, closed_cloud, timeLaserInfoStamp, odometryFrame);
}
// Get pose transformation
// 闭环优化得到的当前关键帧与闭环关键帧之间的位姿变换
float x, y, z, roll, pitch, yaw;
Eigen::Affine3f correctionLidarFrame;
correctionLidarFrame = icp.getFinalTransformation();
// transform from world origin to wrong pose 从世界原点到错误位姿的转换
//闭环优化前当前帧位姿
Eigen::Affine3f tWrong = pclPointToAffine3f(copy_cloudKeyPoses6D->points[loopKeyCur]);
// transform from world origin to corrected pose 矫正位姿
// 闭环优化后当前帧位姿
Eigen::Affine3f tCorrect = correctionLidarFrame * tWrong;// pre-multiplying -> successive rotation about a fixed frame
pcl::getTranslationAndEulerAngles (tCorrect, x, y, z, roll, pitch, yaw);
gtsam::Pose3 poseFrom = Pose3(Rot3::RzRyRx(roll, pitch, yaw), Point3(x, y, z));
// 闭环匹配帧的位姿
gtsam::Pose3 poseTo = pclPointTogtsamPose3(copy_cloudKeyPoses6D->points[loopKeyPre]);
gtsam::Vector Vector6(6);
float noiseScore = icp.getFitnessScore();
Vector6 << noiseScore, noiseScore, noiseScore, noiseScore, noiseScore, noiseScore;
noiseModel::Diagonal::shared_ptr constraintNoise = noiseModel::Diagonal::Variances(Vector6);
// Add pose constraint
// 添加闭环因子需要的数据
mtx.lock();
loopIndexQueue.push_back(make_pair(loopKeyCur, loopKeyPre));
loopPoseQueue.push_back(poseFrom.between(poseTo));
loopNoiseQueue.push_back(constraintNoise);
mtx.unlock();
// add loop constriant
loopIndexContainer[loopKeyCur] = loopKeyPre;
}
/**
* not-used, 来自外部闭环检测程序提供的闭环匹配索引对
*/
bool detectLoopClosureExternal(int *latestID, int *closestID)
{
// this function is not used yet, please ignore it
int loopKeyCur = -1;
int loopKeyPre = -1;
std::lock_guard<std::mutex> lock(mtxLoopInfo);
if (loopInfoVec.empty())
return false;
double loopTimeCur = loopInfoVec.front().data[0];
double loopTimePre = loopInfoVec.front().data[1];
loopInfoVec.pop_front();
if (abs(loopTimeCur - loopTimePre) < historyKeyframeSearchTimeDiff)
return false;
int cloudSize = copy_cloudKeyPoses6D->size();
if (cloudSize < 2)
return false;
// latest key
loopKeyCur = cloudSize - 1;
for (int i = cloudSize - 1; i >= 0; --i)
{
if (copy_cloudKeyPoses6D->points[i].time >= loopTimeCur)
loopKeyCur = round(copy_cloudKeyPoses6D->points[i].intensity);
else
break;
}
// previous key
loopKeyPre = 0;
for (int i = 0; i < cloudSize; ++i)
{
if (copy_cloudKeyPoses6D->points[i].time <= loopTimePre)
loopKeyPre = round(copy_cloudKeyPoses6D->points[i].intensity);
else
break;
}
if (loopKeyCur == loopKeyPre)
return false;
auto it = loopIndexContainer.find(loopKeyCur);
if (it != loopIndexContainer.end())
return false;
*latestID = loopKeyCur;
*closestID = loopKeyPre;
return true;
}
/**
* 在历史关键帧中查找与当前关键帧距离最近的关键帧集合，选择时间相隔较远的一帧作为候选闭环帧
*/
bool detectLoopClosureDistance(int *latestID, int *closestID)
{
// 当前关键帧
int loopKeyCur = copy_cloudKeyPoses3D->size() - 1;
int loopKeyPre = -1;
// check loop constraint added before
// 当前帧已经添加过闭环对应关系，不再继续添加
auto it = loopIndexContainer.find(loopKeyCur);
if (it != loopIndexContainer.end())
return false;
// find the closest history key frame
// 在历史关键帧中查找与当前关键帧距离最近的关键帧集合
std::vector<int> pointSearchIndLoop;
std::vector<float> pointSearchSqDisLoop;
kdtreeHistoryKeyPoses->setInputCloud(copy_cloudKeyPoses3D);
kdtreeHistoryKeyPoses->radiusSearch(copy_cloudKeyPoses3D->back(), historyKeyframeSearchRadius, pointSearchIndLoop, pointSearchSqDisLoop, 0);
// 在候选关键帧集合中，找到与当前帧时间相隔较远的帧，设为候选关键帧
for (int i = 0; i < (int)pointSearchIndLoop.size(); ++i)
{
int id = pointSearchIndLoop[i];
if (abs(copy_cloudKeyPoses6D->points[id].time - timeLaserInfoCur) > historyKeyframeSearchTimeDiff)
{
loopKeyPre = id;
break;
}
}
if (loopKeyPre == -1 || loopKeyCur == loopKeyPre)
return false;
*latestID = loopKeyCur;
*closestID = loopKeyPre;
return true;
}
/**
* 提取闭环匹配关键帧前后相邻若干帧的关键帧特征点集合，降采样
*/
void loopFindNearKeyframes(pcl::PointCloud<PointType>::Ptr& nearKeyframes, const int& key, const int& searchNum)
{
// extract near keyframes 提取近关键帧
// 提取key索引的关键帧前后相邻若干帧的关键帧特征点集合
nearKeyframes->clear();
int cloudSize = copy_cloudKeyPoses6D->size();
for (int i = -searchNum; i <= searchNum; ++i)
{
int keyNear = key + i;
if (keyNear < 0 || keyNear >= cloudSize )
continue;
*nearKeyframes += *transformPointCloud(cornerCloudKeyFrames[keyNear], ©_cloudKeyPoses6D->points[keyNear]);
*nearKeyframes += *transformPointCloud(surfCloudKeyFrames[keyNear], ©_cloudKeyPoses6D->points[keyNear]);
}
if (nearKeyframes->empty())
return;
// 降采样
pcl::PointCloud<PointType>::Ptr cloud_temp(new pcl::PointCloud<PointType>());
downSizeFilterICP.setInputCloud(nearKeyframes);
downSizeFilterICP.filter(*cloud_temp);
*nearKeyframes = *cloud_temp;
}
//在rviz中展示闭环边
void visualizeLoopClosure()
{
if (loopIndexContainer.empty())
return;
visualization_msgs::MarkerArray markerArray;
// loop nodes 闭环顶点
visualization_msgs::Marker markerNode;
markerNode.header.frame_id = odometryFrame;
markerNode.header.stamp = timeLaserInfoStamp;
markerNode.action = visualization_msgs::Marker::ADD;
markerNode.type = visualization_msgs::Marker::SPHERE_LIST;
markerNode.ns = "loop_nodes";
markerNode.id = 0;
markerNode.pose.orientation.w = 1;
markerNode.scale.x = 0.3; markerNode.scale.y = 0.3; markerNode.scale.z = 0.3;
markerNode.color.r = 0; markerNode.color.g = 0.8; markerNode.color.b = 1;
markerNode.color.a = 1;
// loop edges 闭环边
visualization_msgs::Marker markerEdge;
markerEdge.header.frame_id = odometryFrame;
markerEdge.header.stamp = timeLaserInfoStamp;
markerEdge.action = visualization_msgs::Marker::ADD;
markerEdge.type = visualization_msgs::Marker::LINE_LIST;
markerEdge.ns = "loop_edges";
markerEdge.id = 1;
markerEdge.pose.orientation.w = 1;
markerEdge.scale.x = 0.1;
markerEdge.color.r = 0.9; markerEdge.color.g = 0.9; markerEdge.color.b = 0;
markerEdge.color.a = 1;
//遍历闭环
for (auto it = loopIndexContainer.begin(); it != loopIndexContainer.end(); ++it)
{
int key_cur = it->first;
int key_pre = it->second;
geometry_msgs::Point p;
p.x = copy_cloudKeyPoses6D->points[key_cur].x;
p.y = copy_cloudKeyPoses6D->points[key_cur].y;
p.z = copy_cloudKeyPoses6D->points[key_cur].z;
markerNode.points.push_back(p);
markerEdge.points.push_back(p);
p.x = copy_cloudKeyPoses6D->points[key_pre].x;
p.y = copy_cloudKeyPoses6D->points[key_pre].y;
p.z = copy_cloudKeyPoses6D->points[key_pre].z;
markerNode.points.push_back(p);
markerEdge.points.push_back(p);
}
markerArray.markers.push_back(markerNode);
markerArray.markers.push_back(markerEdge);
pubLoopConstraintEdge.publish(markerArray);
}
展示全局线程：
/**
* 展示线程
* 1、发布局部关键帧map的特征点云
* 2、保存全局关键帧特征点集合
*/
void visualizeGlobalMapThread()
{
ros::Rate rate(0.2);
while (ros::ok()){
rate.sleep();
// 发布局部关键帧map的特征点云
publishGlobalMap();
}
if (savePCD == false)
return;
lio_sam::save_mapRequest req;
lio_sam::save_mapResponse res;
// 保存全局关键帧特征点集合
if(!saveMapService(req, res)){
cout << "Fail to save map" << endl;
}
}
/**
* 发布局部关键帧map的特征点云
*/
void publishGlobalMap()
{
if (pubLaserCloudSurround.getNumSubscribers() == 0)
return;
if (cloudKeyPoses3D->points.empty() == true)
return;
pcl::KdTreeFLANN<PointType>::Ptr kdtreeGlobalMap(new pcl::KdTreeFLANN<PointType>());;
pcl::PointCloud<PointType>::Ptr globalMapKeyPoses(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr globalMapKeyPosesDS(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr globalMapKeyFrames(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr globalMapKeyFramesDS(new pcl::PointCloud<PointType>());
// kdtree查找最近一帧关键帧相邻的关键帧集合
std::vector<int> pointSearchIndGlobalMap;
std::vector<float> pointSearchSqDisGlobalMap;
// search near key frames to visualize
mtx.lock();
kdtreeGlobalMap->setInputCloud(cloudKeyPoses3D);
kdtreeGlobalMap->radiusSearch(cloudKeyPoses3D->back(), globalMapVisualizationSearchRadius, pointSearchIndGlobalMap, pointSearchSqDisGlobalMap, 0);
mtx.unlock();
for (int i = 0; i < (int)pointSearchIndGlobalMap.size(); ++i)
globalMapKeyPoses->push_back(cloudKeyPoses3D->points[pointSearchIndGlobalMap[i]]);
// 降采样
pcl::VoxelGrid<PointType> downSizeFilterGlobalMapKeyPoses; // for global map visualization
downSizeFilterGlobalMapKeyPoses.setLeafSize(globalMapVisualizationPoseDensity, globalMapVisualizationPoseDensity, globalMapVisualizationPoseDensity); // for global map visualization
downSizeFilterGlobalMapKeyPoses.setInputCloud(globalMapKeyPoses);
downSizeFilterGlobalMapKeyPoses.filter(*globalMapKeyPosesDS);
// 提取局部相邻关键帧对应的特征点云
for(auto& pt : globalMapKeyPosesDS->points)
{
kdtreeGlobalMap->nearestKSearch(pt, 1, pointSearchIndGlobalMap, pointSearchSqDisGlobalMap);
pt.intensity = cloudKeyPoses3D->points[pointSearchIndGlobalMap[0]].intensity;
}
// extract visualized and downsampled key frames
for (int i = 0; i < (int)globalMapKeyPosesDS->size(); ++i){
// 距离过大
if (pointDistance(globalMapKeyPosesDS->points[i], cloudKeyPoses3D->back()) > globalMapVisualizationSearchRadius)
continue;
int thisKeyInd = (int)globalMapKeyPosesDS->points[i].intensity;
*globalMapKeyFrames += *transformPointCloud(cornerCloudKeyFrames[thisKeyInd], &cloudKeyPoses6D->points[thisKeyInd]);
*globalMapKeyFrames += *transformPointCloud(surfCloudKeyFrames[thisKeyInd], &cloudKeyPoses6D->points[thisKeyInd]);
}
// downsample visualized points
// 降采样，发布
pcl::VoxelGrid<PointType> downSizeFilterGlobalMapKeyFrames; // for global map visualization
downSizeFilterGlobalMapKeyFrames.setLeafSize(globalMapVisualizationLeafSize, globalMapVisualizationLeafSize, globalMapVisualizationLeafSize); // for global map visualization
downSizeFilterGlobalMapKeyFrames.setInputCloud(globalMapKeyFrames);
downSizeFilterGlobalMapKeyFrames.filter(*globalMapKeyFramesDS);
publishCloud(&pubLaserCloudSurround, globalMapKeyFramesDS, timeLaserInfoStamp, odometryFrame);
}
主函数
int main(int argc, char** argv)
{
ros::init(argc, argv, "lio_sam");
mapOptimization MO;
ROS_INFO("\033[1;32m----> Map Optimization Started.\033[0m");
std::thread loopthread(&mapOptimization::loopClosureThread, &MO);
std::thread visualizeMapThread(&mapOptimization::visualizeGlobalMapThread, &MO);
ros::spin();
loopthread.join();
visualizeMapThread.join();
return 0;
}
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