// This is an advanced implementation of the algorithm described in the following paper:
// J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
// Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.
// Modifier: Tong Qin qintonguav@gmail.com
// Shaozu Cao saozu.cao@connect.ust.hk
// Copyright 2013, Ji Zhang, Carnegie Mellon University
// Further contributions copyright (c) 2016, Southwest Research Institute
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// 3. Neither the name of the copyright holder nor the names of its
// contributors may be used to endorse or promote products derived from this
// software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
#include <cmath>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl_conversions/pcl_conversions.h>
#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include <eigen3/Eigen/Dense>
#include <mutex>
#include <queue>
#include "aloam_velodyne/common.h"
#include "aloam_velodyne/tic_toc.h"
#include "lidarFactor.hpp"
#define DISTORTION 0
//laserOdometry的作用就是对相邻帧的两帧点云做帧间匹配得到位姿的变换
int corner_correspondence = 0, plane_correspondence = 0;
constexpr double SCAN_PERIOD = 0.1;
constexpr double DISTANCE_SQ_THRESHOLD = 25;
constexpr double NEARBY_SCAN = 2.5;
int skipFrameNum = 5;
bool systemInited = false;
double timeCornerPointsSharp = 0;
double timeCornerPointsLessSharp = 0;
double timeSurfPointsFlat = 0;
double timeSurfPointsLessFlat = 0;
double timeLaserCloudFullRes = 0;
pcl::KdTreeFLANN<pcl::PointXYZI>::Ptr kdtreeCornerLast(new pcl::KdTreeFLANN<pcl::PointXYZI>());
pcl::KdTreeFLANN<pcl::PointXYZI>::Ptr kdtreeSurfLast(new pcl::KdTreeFLANN<pcl::PointXYZI>());
pcl::PointCloud<PointType>::Ptr cornerPointsSharp(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr cornerPointsLessSharp(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr surfPointsFlat(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr surfPointsLessFlat(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudCornerLast(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudSurfLast(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudFullRes(new pcl::PointCloud<PointType>());
int laserCloudCornerLastNum = 0;
int laserCloudSurfLastNum = 0;
// Transformation from current frame to world frame
//当前帧的在world世界坐标系下的位姿,Lidar Odometry线程估计的frame在world坐标系的位姿P
Eigen::Quaterniond q_w_curr(1, 0, 0, 0);
Eigen::Vector3d t_w_curr(0, 0, 0);
// 点云特征匹配时的优化变量
// q_curr_last(x, y, z, w), t_curr_last
double para_q[4] = {0, 0, 0, 1};
double para_t[3] = {0, 0, 0};
// 下面的2个分别是优化变量para_q和para_t的映射：表示的是两个world坐标系下的位姿P之间的增量，例如△P = P0.inverse() * P1
Eigen::Map<Eigen::Quaterniond> q_last_curr(para_q);
Eigen::Map<Eigen::Vector3d> t_last_curr(para_t);
//接收上游的5个topic函数，将消息放在queue中，方便后续处理
//存放数据的queue
//只能访问 queue<T> 容器适配器的第一个和最后一个元素。只能在容器的末尾添加新元素，只能从头部移除元素。
//queue 和 stack 有一些成员函数相似，但在一些情况下，工作方式有些不同：
//front()：返回 queue 中第一个元素的引用。如果 queue 是常量，就返回一个常引用；如果 queue 为空，返回值是未定义的。
//back()：返回 queue 中最后一个元素的引用。如果 queue 是常量，就返回一个常引用；如果 queue 为空，返回值是未定义的。
//push(const T& obj)：在 queue 的尾部添加一个元素的副本。这是通过调用底层容器的成员函数 push_back() 来完成的。
//push(T&& obj)：以移动的方式在 queue 的尾部添加元素。这是通过调用底层容器的具有右值引用参数的成员函数 push_back() 来完成的。
//pop()：删除 queue 中的第一个元素。
//size()：返回 queue 中元素的个数。
//empty()：如果 queue 中没有元素的话，返回 true。
//emplace()：用传给 emplace() 的参数调用 T 的构造函数，在 queue 的尾部生成对象。
//swap(queue<T> &other_q)：将当前 queue 中的元素和参数 queue 中的元素交换。它们需要包含相同类型的元素。
//也可以调用全局函数模板 swap() 来完成同样的操作。
std::queue<sensor_msgs::PointCloud2ConstPtr> cornerSharpBuf;
std::queue<sensor_msgs::PointCloud2ConstPtr> cornerLessSharpBuf;
std::queue<sensor_msgs::PointCloud2ConstPtr> surfFlatBuf;
std::queue<sensor_msgs::PointCloud2ConstPtr> surfLessFlatBuf;
std::queue<sensor_msgs::PointCloud2ConstPtr> fullPointsBuf;
std::mutex mBuf; //线程互斥锁
//将当前帧点云转换到上一帧，根据运动模型对点云去畸变
//（TransformToStart：将当前帧Lidar坐标系下的点云变换到上一帧Lidar坐标系下（也就是当前帧的初始位姿，起始位姿，所以函数名是TransformToStart），
//因为kitti点云已经去除了畸变，所以不再考虑运动补偿。（如果点云没有去除畸变，用slerp差值的方式计算出每个点在fire时刻的位姿，
//然后进行TransformToStart的坐标变换，一方面实现了变换到上一帧Lidar坐标系下；
//另一方面也可以理解成点都将fire时刻统一到了开始时刻，即去除了畸变，完成了运动补偿）
// undistort lidar point
void TransformToStart(PointType const *const pi, PointType *const po)
{
//interpolation ratio
double s;
// 由于kitti数据集上的lidar已经做过了运动补偿，因此这里就不做具体补偿了
if (DISTORTION)
s = (pi->intensity - int(pi->intensity)) / SCAN_PERIOD;
else
s = 1.0; // s = 1s说明全部补偿到点云结束的时刻
//s = 1;
// 所有点的操作方式都是一致的，相当于从结束时刻补偿到起始时刻
// 这里相当于是一个匀速模型的假设
Eigen::Quaterniond q_point_last = Eigen::Quaterniond::Identity().slerp(s, q_last_curr);
Eigen::Vector3d t_point_last = s * t_last_curr;
Eigen::Vector3d point(pi->x, pi->y, pi->z);
Eigen::Vector3d un_point = q_point_last * point + t_point_last;
po->x = un_point.x();
po->y = un_point.y();
po->z = un_point.z();
po->intensity = pi->intensity;
}
// transform all lidar points to the start of the next frame
void TransformToEnd(PointType const *const pi, PointType *const po)
{
// undistort point first
pcl::PointXYZI un_point_tmp;
TransformToStart(pi, &un_point_tmp);
Eigen::Vector3d un_point(un_point_tmp.x, un_point_tmp.y, un_point_tmp.z);
Eigen::Vector3d point_end = q_last_curr.inverse() * (un_point - t_last_curr);
po->x = point_end.x();
po->y = point_end.y();
po->z = point_end.z();
//Remove distortion time info
po->intensity = int(pi->intensity);
}
// 操作都是送去各自的队列中（// 之后的5个Handler函数为接受上游5个topic的回调函数，作用是将消息缓存到对应的queue中，以便后续处理。）
// 只能访问 queue<T> 容器适配器的第一个和最后一个元素。只能在容器的末尾添加新元素，只能从头部移除元素。
void laserCloudSharpHandler(const sensor_msgs::PointCloud2ConstPtr &cornerPointsSharp2)
{
mBuf.lock();//std::mutex mBuf 线程互斥锁 lock()和unlock成对存在，加锁时
cornerSharpBuf.push(cornerPointsSharp2);
mBuf.unlock();
}
void laserCloudLessSharpHandler(const sensor_msgs::PointCloud2ConstPtr &cornerPointsLessSharp2)
{
mBuf.lock();
cornerLessSharpBuf.push(cornerPointsLessSharp2);
//push(T&& obj)：以移动的方式在 queue 的尾部添加元素。这是通过调用底层容器的具有右值引用参数的成员函数 push_back() 来完成的。
mBuf.unlock();
}
void laserCloudFlatHandler(const sensor_msgs::PointCloud2ConstPtr &surfPointsFlat2)
{
mBuf.lock();
surfFlatBuf.push(surfPointsFlat2);
mBuf.unlock();
}
void laserCloudLessFlatHandler(const sensor_msgs::PointCloud2ConstPtr &surfPointsLessFlat2)
{
mBuf.lock();
surfLessFlatBuf.push(surfPointsLessFlat2);
mBuf.unlock();
}
//receive all point cloud
void laserCloudFullResHandler(const sensor_msgs::PointCloud2ConstPtr &laserCloudFullRes2)
{
mBuf.lock();
fullPointsBuf.push(laserCloudFullRes2);
mBuf.unlock();
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "laserOdometry");
ros::NodeHandle nh;
nh.param<int>("mapping_skip_frame", skipFrameNum, 2);
printf("Mapping %d Hz \n", 10 / skipFrameNum);
// 订阅提取出来的点云
ros::Subscriber subCornerPointsSharp = nh.subscribe<sensor_msgs::PointCloud2>("/laser_cloud_sharp", 100, laserCloudSharpHandler);
ros::Subscriber subCornerPointsLessSharp = nh.subscribe<sensor_msgs::PointCloud2>("/laser_cloud_less_sharp", 100, laserCloudLessSharpHandler);
ros::Subscriber subSurfPointsFlat = nh.subscribe<sensor_msgs::PointCloud2>("/laser_cloud_flat", 100, laserCloudFlatHandler);
ros::Subscriber subSurfPointsLessFlat = nh.subscribe<sensor_msgs::PointCloud2>("/laser_cloud_less_flat", 100, laserCloudLessFlatHandler);
ros::Subscriber subLaserCloudFullRes = nh.subscribe<sensor_msgs::PointCloud2>("/velodyne_cloud_2", 100, laserCloudFullResHandler);
ros::Publisher pubLaserCloudCornerLast = nh.advertise<sensor_msgs::PointCloud2>("/laser_cloud_corner_last", 100);
ros::Publisher pubLaserCloudSurfLast = nh.advertise<sensor_msgs::PointCloud2>("/laser_cloud_surf_last", 100);
ros::Publisher pubLaserCloudFullRes = nh.advertise<sensor_msgs::PointCloud2>("/velodyne_cloud_3", 100);
ros::Publisher pubLaserOdometry = nh.advertise<nav_msgs::Odometry>("/laser_odom_to_init", 100);
ros::Publisher pubLaserPath = nh.advertise<nav_msgs::Path>("/laser_odom_path", 100);
nav_msgs::Path laserPath;
int frameCount = 0;
ros::Rate rate(100);
while (ros::ok())
{
ros::spinOnce(); // 触发一次回调，参考https://www.cnblogs.com/liu-fa/p/5925381.html
//ROS的主循环中，程序需要不断调用ros::spin() 或 ros::spinOnce()，
//两者区别在于前者调用后不会再返回，也就是你的主程序到这儿就不往下执行了，而后者在调用后还可以继续执行之后的程序。
//这里需要特别强调一下，如果大兄弟你的程序写了相关的消息订阅函数，那千万千万千万不要忘了在相应位置加上ros::spin()或者ros::spinOnce()函数，
//不然你是永远都得不到另一边发出的数据或消息的
// 首先确保订阅的五个消息都有，有一个队列为空都不行
if (!cornerSharpBuf.empty() && !cornerLessSharpBuf.empty() &&
!surfFlatBuf.empty() && !surfLessFlatBuf.empty() &&
!fullPointsBuf.empty())
{
// 分别求出队列第一个时间
timeCornerPointsSharp = cornerSharpBuf.front()->header.stamp.toSec();
timeCornerPointsLessSharp = cornerLessSharpBuf.front()->header.stamp.toSec();
timeSurfPointsFlat = surfFlatBuf.front()->header.stamp.toSec();
timeSurfPointsLessFlat = surfLessFlatBuf.front()->header.stamp.toSec();
timeLaserCloudFullRes = fullPointsBuf.front()->header.stamp.toSec();
// 因为同一帧的时间戳都是相同的，因此这里比较是否是同一帧
if (timeCornerPointsSharp != timeLaserCloudFullRes ||
timeCornerPointsLessSharp != timeLaserCloudFullRes ||
timeSurfPointsFlat != timeLaserCloudFullRes ||
timeSurfPointsLessFlat != timeLaserCloudFullRes)
{
printf("unsync messeage!");
ROS_BREAK();
}
// 分别将五个点云消息取出来，同时转成pcl的点云格式
mBuf.lock();
cornerPointsSharp->clear();
pcl::fromROSMsg(*cornerSharpBuf.front(), *cornerPointsSharp);
cornerSharpBuf. pop();
//pop()：删除 queue 中的第一个元素
cornerPointsLessSharp->clear();
pcl::fromROSMsg(*cornerLessSharpBuf.front(), *cornerPointsLessSharp);
cornerLessSharpBuf.pop();
surfPointsFlat->clear();
pcl::fromROSMsg(*surfFlatBuf.front(), *surfPointsFlat);
surfFlatBuf.pop();
surfPointsLessFlat->clear();
pcl::fromROSMsg(*surfLessFlatBuf.front(), *surfPointsLessFlat);
surfLessFlatBuf.pop();
laserCloudFullRes->clear();
pcl::fromROSMsg(*fullPointsBuf.front(), *laserCloudFullRes);
fullPointsBuf.pop();
mBuf.unlock();
TicToc t_whole;
// initializing
// 一个什么也不干的初始化
if (!systemInited)) // 第一帧不进行匹配，仅仅将 cornerPointsLessSharp 保存至 laserCloudCornerLast
// 将 surfPointsLessFlat 保存至 laserCloudSurfLast
// 为下次匹配提供target
{
systemInited = true;
std::cout << "Initialization finished \n";
}
else //第二帧开始
{
// 取出比较突出的特征
int cornerPointsSharpNum = cornerPointsSharp->points.size();
int surfPointsFlatNum = surfPointsFlat->points.size();
TicToc t_opt;
// 进行两次迭代
for (size_t opti_counter = 0; opti_counter < 2; ++opti_counter)
{
corner_correspondence = 0; // 角点的误差项数量
plane_correspondence = 0; // 平面点的误差项数量
//ceres::LossFunction *loss_function = NULL;
// 定义一下ceres的核函数
ceres::LossFunction *loss_function = new ceres::HuberLoss(0.1);
// 由于旋转不满足一般意义的加法，因此这里使用ceres自带的local param
ceres::LocalParameterization *q_parameterization =
new ceres::EigenQuaternionParameterization();
ceres::Problem::Options problem_options;
ceres::Problem problem(problem_options);
// 待优化的变量是帧间位姿，平移和旋转，这里旋转使用四元数来表示
problem.AddParameterBlock(para_q, 4, q_parameterization);
problem.AddParameterBlock(para_t, 3);
pcl::PointXYZI pointSel;
std::vector<int> pointSearchInd;
std::vector<float> pointSearchSqDis;
TicToc t_data;
// find correspondence for corner features
// 寻找角点的约束
for (int i = 0; i < cornerPointsSharpNum; ++i)
{
// 运动补偿
TransformToStart(&(cornerPointsSharp->points[i]), &pointSel);
// 在上一帧所有角点构成的kdtree中寻找距离当前帧最近的一个点
kdtreeCornerLast->nearestKSearch(pointSel, 1, pointSearchInd, pointSearchSqDis);
int closestPointInd = -1, minPointInd2 = -1;
// 只有小于给定门限才认为是有效约束
if (pointSearchSqDis[0] < DISTANCE_SQ_THRESHOLD)
{
closestPointInd = pointSearchInd[0]; // 对应的最近距离的索引取出来
// 找到其所在线束id，线束信息藏在intensity的整数部分
int closestPointScanID = int(laserCloudCornerLast->points[closestPointInd].intensity);
double minPointSqDis2 = DISTANCE_SQ_THRESHOLD;
// search in the direction of increasing scan line
// 寻找角点，在刚刚角点id上下分别继续寻找，目的是找到最近的角点，由于其按照线束进行排序，所以就是向上找
for (int j = closestPointInd + 1; j < (int)laserCloudCornerLast->points.size(); ++j)
{
// if in the same scan line, continue
// 不找同一根线束的
if (int(laserCloudCornerLast->points[j].intensity) <= closestPointScanID)
continue;
// if not in nearby scans, end the loop
// 要求找到的线束距离当前线束不能太远
if (int(laserCloudCornerLast->points[j].intensity) > (closestPointScanID + NEARBY_SCAN))
break;
// 计算和当前找到的角点之间的距离
double pointSqDis = (laserCloudCornerLast->points[j].x - pointSel.x) *
(laserCloudCornerLast->points[j].x - pointSel.x) +
(laserCloudCornerLast->points[j].y - pointSel.y) *
(laserCloudCornerLast->points[j].y - pointSel.y) +
(laserCloudCornerLast->points[j].z - pointSel.z) *
(laserCloudCornerLast->points[j].z - pointSel.z);
// 寻找距离最小的角点及其索引
if (pointSqDis < minPointSqDis2)
{
// find nearer point
// 记录其索引
minPointSqDis2 = pointSqDis;
minPointInd2 = j;
}
}
// search in the direction of decreasing scan line
// 同样另一个方向寻找对应角点
for (int j = closestPointInd - 1; j >= 0; --j)
{
// if in the same scan line, continue
if (int(laserCloudCornerLast->points[j].intensity) >= closestPointScanID)
continue;
// if not in nearby scans, end the loop
if (int(laserCloudCornerLast->points[j].intensity) < (closestPointScanID - NEARBY_SCAN))
break;
double pointSqDis = (laserCloudCornerLast->points[j].x - pointSel.x) *
(laserCloudCornerLast->points[j].x - pointSel.x) +
(laserCloudCornerLast->points[j].y - pointSel.y) *
(laserCloudCornerLast->points[j].y - pointSel.y) +
(laserCloudCornerLast->points[j].z - pointSel.z) *
(laserCloudCornerLast->points[j].z - pointSel.z);
if (pointSqDis < minPointSqDis2)
{
// find nearer point
minPointSqDis2 = pointSqDis;
minPointInd2 = j;
}
}
}
// 如果这个角点是有效的角点
if (minPointInd2 >= 0) // both closestPointInd and minPointInd2 is valid
{
// 取出当前点和上一帧的两个角点
Eigen::Vector3d curr_point(cornerPointsSharp->points[i].x,
cornerPointsSharp->points[i].y,
cornerPointsSharp->points[i].z);
Eigen::Vector3d last_point_a(laserCloudCornerLast->points[closestPointInd].x,
laserCloudCornerLast->points[closestPointInd].y,
laserCloudCornerLast->points[closestPointInd].z);
Eigen::Vector3d last_point_b(laserCloudCornerLast->points[minPointInd2].x,
laserCloudCornerLast->points[minPointInd2].y,
laserCloudCornerLast->points[minPointInd2].z);
double s;
if (DISTORTION)
s = (cornerPointsSharp->points[i].intensity - int(cornerPointsSharp->points[i].intensity)) / SCAN_PERIOD;
else
s = 1.0;
ceres::CostFunction *cost_function = LidarEdgeFactor::Create(curr_point, last_point_a, last_point_b, s);
problem.AddResidualBlock(cost_function, loss_function, para_q, para_t);
corner_correspondence++;
}
}
// find correspondence for plane features
for (int i = 0; i < surfPointsFlatNum; ++i)
{
TransformToStart(&(surfPointsFlat->points[i]), &pointSel);
// 先寻找上一帧距离这个面点最近的面点
kdtreeSurfLast->nearestKSearch(pointSel, 1, pointSearchInd, pointSearchSqDis);
int closestPointInd = -1, minPointInd2 = -1, minPointInd3 = -1;
// 距离必须小于给定阈值
if (pointSearchSqDis[0] < DISTANCE_SQ_THRESHOLD)
{
// 取出找到的上一帧面点的索引
closestPointInd = pointSearchInd[0];
// get closest point's scan ID
// 取出最近的面点在上一帧的第几根scan上面
int closestPointScanID = int(laserCloudSurfLast->points[closestPointInd].intensity);
double minPointSqDis2 = DISTANCE_SQ_THRESHOLD, minPointSqDis3 = DISTANCE_SQ_THRESHOLD;
// 额外在寻找两个点，要求，一个点和最近点同一个scan，另一个是不同scan
// search in the direction of increasing scan line
// 按照增量方向寻找其他面点
for (int j = closestPointInd + 1; j < (int)laserCloudSurfLast->points.size(); ++j)
{
// if not in nearby scans, end the loop
// 不能和当前找到的上一帧面点线束距离太远
if (int(laserCloudSurfLast->points[j].intensity) > (closestPointScanID + NEARBY_SCAN))
break;
// 计算和当前帧该点距离
double pointSqDis = (laserCloudSurfLast->points[j].x - pointSel.x) *
(laserCloudSurfLast->points[j].x - pointSel.x) +
(laserCloudSurfLast->points[j].y - pointSel.y) *
(laserCloudSurfLast->points[j].y - pointSel.y) +
(laserCloudSurfLast->points[j].z - pointSel.z) *
(laserCloudSurfLast->points[j].z - pointSel.z);
// if in the same or lower scan line
// 如果是同一根scan且距离最近
if (int(laserCloudSurfLast->points[j].intensity) <= closestPointScanID && pointSqDis < minPointSqDis2)
{
minPointSqDis2 = pointSqDis;
minPointInd2 = j;
}
// if in the higher scan line
// 如果是其他线束点
else if (int(laserCloudSurfLast->points[j].intensity) > closestPointScanID && pointSqDis < minPointSqDis3)
{
minPointSqDis3 = pointSqDis;
minPointInd3 = j;
}
}
// search in the direction of decreasing scan line
// 同样的方式，去按照降序方向寻找这两个点
for (int j = closestPointInd - 1; j >= 0; --j)
{
// if not in nearby scans, end the loop
if (int(laserCloudSurfLast->points[j].intensity) < (closestPointScanID - NEARBY_SCAN))
break;
double pointSqDis = (laserCloudSurfLast->points[j].x - pointSel.x) *
(laserCloudSurfLast->points[j].x - pointSel.x) +
(laserCloudSurfLast->points[j].y - pointSel.y) *
(laserCloudSurfLast->points[j].y - pointSel.y) +
(laserCloudSurfLast->points[j].z - pointSel.z) *
(laserCloudSurfLast->points[j].z - pointSel.z);
// if in the same or higher scan line
if (int(laserCloudSurfLast->points[j].intensity) >= closestPointScanID && pointSqDis < minPointSqDis2)
{
minPointSqDis2 = pointSqDis;
minPointInd2 = j;
}
else if (int(laserCloudSurfLast->points[j].intensity) < closestPointScanID && pointSqDis < minPointSqDis3)
{
// find nearer point
minPointSqDis3 = pointSqDis;
minPointInd3 = j;
}
}
// 如果另外找到的两个点是有效点，就取出他们的3d坐标
if (minPointInd2 >= 0 && minPointInd3 >= 0)
{
Eigen::Vector3d curr_point(surfPointsFlat->points[i].x,
surfPointsFlat->points[i].y,
surfPointsFlat->points[i].z);
Eigen::Vector3d last_point_a(laserCloudSurfLast->points[closestPointInd].x,
laserCloudSurfLast->points[closestPointInd].y,
laserCloudSurfLast->points[closestPointInd].z);
Eigen::Vector3d last_point_b(laserCloudSurfLast->points[minPointInd2].x,
laserCloudSurfLast->points[minPointInd2].y,
laserCloudSurfLast->points[minPointInd2].z);
Eigen::Vector3d last_point_c(laserCloudSurfLast->points[minPointInd3].x,
laserCloudSurfLast->points[minPointInd3].y,
laserCloudSurfLast->points[minPointInd3].z);
double s;
if (DISTORTION)
s = (surfPointsFlat->points[i].intensity - int(surfPointsFlat->points[i].intensity)) / SCAN_PERIOD;
else
s = 1.0;
// 构建点到面的约束
ceres::CostFunction *cost_function = LidarPlaneFactor::Create(curr_point, last_point_a, last_point_b, last_point_c, s);
problem.AddResidualBlock(cost_function, loss_function, para_q, para_t);
plane_correspondence++;
}
}
}
//printf("coner_correspondance %d, plane_correspondence %d \n", corner_correspondence, plane_correspondence);
printf("data association time %f ms \n", t_data.toc());
// 如果总的约束太少，就打印一下
if ((corner_correspondence + plane_correspondence) < 10)
{
printf("less correspondence! *************************************************\n");
}
// 调用ceres求解器求解
TicToc t_solver;
ceres::Solver::Options options;
options.linear_solver_type = ceres::DENSE_QR;
options.max_num_iterations = 4;
options.minimizer_progress_to_stdout = false;
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);
printf("solver time %f ms \n", t_solver.toc());
}
printf("optimization twice time %f \n", t_opt.toc());
// 这里的w_curr 实际上是 w_last
t_w_curr = t_w_curr + q_w_curr * t_last_curr;
q_w_curr = q_w_curr * q_last_curr;
}
TicToc t_pub;
// 发布lidar里程记结果
// publish odometry
nav_msgs::Odometry laserOdometry;
laserOdometry.header.frame_id = "/camera_init";
laserOdometry.child_frame_id = "/laser_odom";
laserOdometry.header.stamp = ros::Time().fromSec(timeSurfPointsLessFlat);
// 以四元数和平移向量发出去
laserOdometry.pose.pose.orientation.x = q_w_curr.x();
laserOdometry.pose.pose.orientation.y = q_w_curr.y();
laserOdometry.pose.pose.orientation.z = q_w_curr.z();
laserOdometry.pose.pose.orientation.w = q_w_curr.w();
laserOdometry.pose.pose.position.x = t_w_curr.x();
laserOdometry.pose.pose.position.y = t_w_curr.y();
laserOdometry.pose.pose.position.z = t_w_curr.z();
pubLaserOdometry.publish(laserOdometry);
geometry_msgs::PoseStamped laserPose;
laserPose.header = laserOdometry.header;
laserPose.pose = laserOdometry.pose.pose;
laserPath.header.stamp = laserOdometry.header.stamp;
laserPath.poses.push_back(laserPose);
laserPath.header.frame_id = "/camera_init";
pubLaserPath.publish(laserPath);
// transform corner features and plane features to the scan end point
if (0)
{
int cornerPointsLessSharpNum = cornerPointsLessSharp->points.size();
for (int i = 0; i < cornerPointsLessSharpNum; i++)
{
TransformToEnd(&cornerPointsLessSharp->points[i], &cornerPointsLessSharp->points[i]);
}
int surfPointsLessFlatNum = surfPointsLessFlat->points.size();
for (int i = 0; i < surfPointsLessFlatNum; i++)
{
TransformToEnd(&surfPointsLessFlat->points[i], &surfPointsLessFlat->points[i]);
}
int laserCloudFullResNum = laserCloudFullRes->points.size();
for (int i = 0; i < laserCloudFullResNum; i++)
{
TransformToEnd(&laserCloudFullRes->points[i], &laserCloudFullRes->points[i]);
}
}
//更新配准的source
//当前帧变上一帧，利用临时变量laserCloudTemp交换
pcl::PointCloud<PointType>::Ptr laserCloudTemp = cornerPointsLessSharp;
cornerPointsLessSharp = laserCloudCornerLast;
laserCloudCornerLast = laserCloudTemp;
laserCloudTemp = surfPointsLessFlat;
surfPointsLessFlat = laserCloudSurfLast;
laserCloudSurfLast = laserCloudTemp;
laserCloudCornerLastNum = laserCloudCornerLast->points.size();
laserCloudSurfLastNum = laserCloudSurfLast->points.size();
// std::cout << "the size of corner last is " << laserCloudCornerLastNum << ", and the size of surf last is " << laserCloudSurfLastNum << '\n';
// kdtree设置当前帧，用来下一帧lidar odom使用
// 使用上一帧的点云更新kd-tree，如果是第一帧的话是直接将其保存为这个的
kdtreeCornerLast->setInputCloud(laserCloudCornerLast);
kdtreeSurfLast->setInputCloud(laserCloudSurfLast);
// 一定降频后给后端发送
// 每隔5帧执行一次
if (frameCount % skipFrameNum == 0)
{
frameCount = 0;
// 发布上一帧的Corner点
sensor_msgs::PointCloud2 laserCloudCornerLast2;
pcl::toROSMsg(*laserCloudCornerLast, laserCloudCornerLast2);
laserCloudCornerLast2.header.stamp = ros::Time().fromSec(timeSurfPointsLessFlat);
laserCloudCornerLast2.header.frame_id = "/camera";
pubLaserCloudCornerLast.publish(laserCloudCornerLast2);
// 发布上一帧的Surf点
sensor_msgs::PointCloud2 laserCloudSurfLast2;
pcl::toROSMsg(*laserCloudSurfLast, laserCloudSurfLast2);
laserCloudSurfLast2.header.stamp = ros::Time().fromSec(timeSurfPointsLessFlat);
laserCloudSurfLast2.header.frame_id = "/camera";
pubLaserCloudSurfLast.publish(laserCloudSurfLast2);
//发送完整点云
sensor_msgs::PointCloud2 laserCloudFullRes3;
pcl::toROSMsg(*laserCloudFullRes, laserCloudFullRes3);
laserCloudFullRes3.header.stamp = ros::Time().fromSec(timeSurfPointsLessFlat);
laserCloudFullRes3.header.frame_id = "/camera";
pubLaserCloudFullRes.publish(laserCloudFullRes3);
}
printf("publication time %f ms \n", t_pub.toc());
printf("whole laserOdometry time %f ms \n \n", t_whole.toc());
if(t_whole.toc() > 100)
ROS_WARN("odometry process over 100ms");
frameCount++;
}
rate.sleep();
}
return 0;
}
10-15
850
850
10-28
4170
4170
03-23
11-17
1114
1114
05-10
939
939
09-13
589
589
05-29
799
799
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