该模块接收前一模块scanRegistration发布的几个主题，对相邻两帧的特征点进行匹配，通过优化点到线、点到面的距离，求得激光的位姿增量；
主要逻辑：
- 订阅scanRegistration发布的曲率极大点集，曲率次极大点集，曲率极小点集和次极小点集，压入队列；
- 保证这几个点集时间戳是同步的；
- 当前帧的极大点P找前一帧中的最近邻点A(在次极大点集中寻找)，在A点的附近线上寻找点B，构建对P与AB线的距离优化的问题；
- 当前帧的极小点P找前一帧中的最近邻点A(在次极小点集中寻找)，在A点附近线上寻找点B、C，构建P对于ABC面的距离优化的问题；
- 发布当前帧的次极大点集、次极小点集和全部有序点云，发布给下一个节点作精调优化；
注释：
// 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
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
Eigen::Quaterniond q_w_curr(1, 0, 0, 0);
Eigen::Vector3d t_w_curr(0, 0, 0);
// 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};
Eigen::Map<Eigen::Quaterniond> q_last_curr(para_q);
Eigen::Map<Eigen::Vector3d> t_last_curr(para_t);
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;
// undistort lidar point
// TransformToStart() 当前点云中的点相对第一个点去除因匀速运动产生的畸变，
// 效果相当于得到在点云扫描开始位置静止扫描得到的点云
void TransformToStart(PointType const *const pi, PointType *const po)
{
//interpolation ratio
double s;
if (DISTORTION)
s = (pi->intensity - int(pi->intensity)) / SCAN_PERIOD;
else
s = 1.0;
//s = 1;
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);
}
void laserCloudSharpHandler(const sensor_msgs::PointCloud2ConstPtr &cornerPointsSharp2)
{
mBuf.lock();
cornerSharpBuf.push(cornerPointsSharp2);
mBuf.unlock();
}
void laserCloudLessSharpHandler(const sensor_msgs::PointCloud2ConstPtr &cornerPointsLessSharp2)
{
mBuf.lock();
cornerLessSharpBuf.push(cornerPointsLessSharp2);
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);
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();
// 这里是5个queue记录了最新的极大/次极大曲率点，极小/次极小曲率点，全部点云
if (!cornerSharpBuf.empty() && !cornerLessSharpBuf.empty() &&
!surfFlatBuf.empty() && !surfLessFlatBuf.empty() &&
!fullPointsBuf.empty())
{
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();
// 如果时间不同步，则报错
if (timeCornerPointsSharp != timeLaserCloudFullRes ||
timeCornerPointsLessSharp != timeLaserCloudFullRes ||
timeSurfPointsFlat != timeLaserCloudFullRes ||
timeSurfPointsLessFlat != timeLaserCloudFullRes)
{
printf("unsync messeage!");
ROS_BREAK();
}
// 从队列中取出来对应的数据，并转换成pcl点云数据
mBuf.lock();
cornerPointsSharp->clear();
pcl::fromROSMsg(*cornerSharpBuf.front(), *cornerPointsSharp);
cornerSharpBuf.pop();
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
if (!systemInited)
{
// 主要用来跳过第一帧数据
// 仅仅将cornerPointsLessSharp保存至laserCloudCornerLast
// 将surfPointsLessFlat保存至laserCloudSurfLast，以及更新对应的kdtree
systemInited = true;
std::cout << "Initialization finished \n";
}
else
{
int cornerPointsSharpNum = cornerPointsSharp->points.size();
int surfPointsFlatNum = surfPointsFlat->points.size();
TicToc t_opt;
for (size_t opti_counter = 0; opti_counter < 2; ++opti_counter)
{
// 极大曲率点的数量
corner_correspondence = 0;
// 极小曲率点的数量
plane_correspondence = 0;
//ceres::LossFunction *loss_function = NULL;
// 使用Huber核函数来减少外点的影响
ceres::LossFunction *loss_function = new ceres::HuberLoss(0.1);
ceres::LocalParameterization *q_parameterization =
new ceres::EigenQuaternionParameterization();
ceres::Problem::Options problem_options;
ceres::Problem problem(problem_options);
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;
// 基于最近邻原理建立corner特征点之间关联，每一个极大边线点去上一帧的次极大边线点集中找匹配
// 方法：现在在第k+1帧中发现了点边线点P，查询在第k帧中的最近邻点A（by KD-tree），
// 查询j的附近扫描线上的最近邻点B，相连形成一条直线AB，让点P与这条直线的距离最短。
// find correspondence for corner features
for (int i = 0; i < cornerPointsSharpNum; ++i)
{
TransformToStart(&(cornerPointsSharp->points[i]), &pointSel);
// 去找上一帧找最近特征点A
kdtreeCornerLast->nearestKSearch(pointSel, 1, pointSearchInd, pointSearchSqDis);
// 去点A的周围4根扫描线中找次近特征点B
int closestPointInd = -1, minPointInd2 = -1;
if (pointSearchSqDis[0] < DISTANCE_SQ_THRESHOLD)
{
// A的索引与线数
closestPointInd = pointSearchInd[0];
int closestPointScanID = int(laserCloudCornerLast->points[closestPointInd].intensity);
double minPointSqDis2 = DISTANCE_SQ_THRESHOLD;
// search in the direction of increasing scan line
for (int j = closestPointInd + 1; j < (int)laserCloudCornerLast->points.size(); ++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;
}
}
// search in the direction of decreasing scan line
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;
}
}
}
if (minPointInd2 >= 0) // both closestPointInd and minPointInd2 is valid
{
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++;
}
}
// 与上述相似，但是这里优化的是点到面的距离
// find correspondence for plane features
for (int i = 0; i < surfPointsFlatNum; ++i)
{
TransformToStart(&(surfPointsFlat->points[i]), &pointSel);
kdtreeSurfLast->nearestKSearch(pointSel, 1, pointSearchInd, pointSearchSqDis);
int closestPointInd = -1, minPointInd2 = -1, minPointInd3 = -1;
if (pointSearchSqDis[0] < DISTANCE_SQ_THRESHOLD)
{
closestPointInd = pointSearchInd[0];
// get closest point's scan ID
int closestPointScanID = int(laserCloudSurfLast->points[closestPointInd].intensity);
double minPointSqDis2 = DISTANCE_SQ_THRESHOLD, minPointSqDis3 = DISTANCE_SQ_THRESHOLD;
// search in the direction of increasing scan line
for (int j = closestPointInd + 1; j < (int)laserCloudSurfLast->points.size(); ++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 lower scan line
// B点在A点下面
if (int(laserCloudSurfLast->points[j].intensity) <= closestPointScanID && pointSqDis < minPointSqDis2)
{
minPointSqDis2 = pointSqDis;
minPointInd2 = j;
}
// if in the higher scan line
// C点在A点上面
else if (int(laserCloudSurfLast->points[j].intensity) > closestPointScanID && pointSqDis < minPointSqDis3)
{
minPointSqDis3 = pointSqDis;
minPointInd3 = j;
}
}
// search in the direction of decreasing scan line
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;
}
}
// 构建ceres非线性优化问题
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;
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());
// 如果找到的关联点少于10个，则警告
if ((corner_correspondence + plane_correspondence) < 10)
{
printf("less correspondence! *************************************************\n");
}
// 设定求解器类型，最大迭代次数，不输出过程信息，优化报告存入summary
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);
// 经过两次LM优化消耗的时间
printf("solver time %f ms \n", t_solver.toc());
}
printf("optimization twice time %f \n", t_opt.toc());
// 更新帧间匹配的结果，得到激光雷达的世界坐标系
t_w_curr = t_w_curr + q_w_curr * t_last_curr;
q_w_curr = q_w_curr * q_last_curr;
}
TicToc t_pub;
// 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);
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]);
}
}
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';
kdtreeCornerLast->setInputCloud(laserCloudCornerLast);
kdtreeSurfLast->setInputCloud(laserCloudSurfLast);
// 为了控制最后一个节点的执行频率， 只有整除时才发布结果
if (frameCount % skipFrameNum == 0)
{
frameCount = 0;
sensor_msgs::PointCloud2 laserCloudCornerLast2;
pcl::toROSMsg(*laserCloudCornerLast, laserCloudCornerLast2);
laserCloudCornerLast2.header.stamp = ros::Time().fromSec(timeSurfPointsLessFlat);
laserCloudCornerLast2.header.frame_id = "/camera";
pubLaserCloudCornerLast.publish(laserCloudCornerLast2);
sensor_msgs::PointCloud2 laserCloudSurfLast2;
pcl::toROSMsg(*laserCloudSurfLast, laserCloudSurfLast2);
laserCloudSurfLast2.header.stamp = ros::Time().fromSec(timeSurfPointsLessFlat);
laserCloudSurfLast2.header.frame_id = "/camera";
pubLaserCloudSurfLast.publish(laserCloudSurfLast2);
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;
}
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