转载，gtsam是专门为IMU紧耦合做了类，pcl、gtsam、ros用的出神了
/**
* 订阅imu原始数据
* 1、用上一帧激光里程计时刻对应的状态、偏置，施加从该时刻开始到当前时刻的imu预计分量，得到当前时刻的状态，也就是imu里程计
* 2、imu里程计位姿转到lidar系，发布里程计
*/
void imuHandler(const sensor_msgs::Imu::ConstPtr& imu_raw)
{
std::lock_guard<std::mutex> lock(mtx);
// imu原始测量数据转换到lidar系，加速度、角速度、RPY
sensor_msgs::Imu thisImu = imuConverter(*imu_raw);
// 添加当前帧imu数据到队列
imuQueOpt.push_back(thisImu);
imuQueImu.push_back(thisImu);
// 要求上一次imu因子图优化执行成功，确保更新了上一帧（激光里程计帧）的状态、偏置，预积分重新计算了
if (doneFirstOpt == false)
return;
double imuTime = ROS_TIME(&thisImu);
double dt = (lastImuT_imu < 0) ? (1.0 / 500.0) : (imuTime - lastImuT_imu);
lastImuT_imu = imuTime;
// imu预积分器添加一帧imu数据，注：这个预积分器的起始时刻是上一帧激光里程计时刻
imuIntegratorImu_->integrateMeasurement(gtsam::Vector3(thisImu.linear_acceleration.x, thisImu.linear_acceleration.y, thisImu.linear_acceleration.z),
gtsam::Vector3(thisImu.angular_velocity.x, thisImu.angular_velocity.y, thisImu.angular_velocity.z), dt);
// 用上一帧激光里程计时刻对应的状态、偏置，施加从该时刻开始到当前时刻的imu预计分量，得到当前时刻的状态
gtsam::NavState currentState = imuIntegratorImu_->predict(prevStateOdom, prevBiasOdom);
// 发布imu里程计（转到lidar系，与激光里程计同一个系）
nav_msgs::Odometry odometry;
odometry.header.stamp = thisImu.header.stamp;
odometry.header.frame_id = odometryFrame;
odometry.child_frame_id = "odom_imu";
// 变换到lidar系
gtsam::Pose3 imuPose = gtsam::Pose3(currentState.quaternion(), currentState.position());
gtsam::Pose3 lidarPose = imuPose.compose(imu2Lidar);
odometry.pose.pose.position.x = lidarPose.translation().x();
odometry.pose.pose.position.y = lidarPose.translation().y();
odometry.pose.pose.position.z = lidarPose.translation().z();
odometry.pose.pose.orientation.x = lidarPose.rotation().toQuaternion().x();
odometry.pose.pose.orientation.y = lidarPose.rotation().toQuaternion().y();
odometry.pose.pose.orientation.z = lidarPose.rotation().toQuaternion().z();
odometry.pose.pose.orientation.w = lidarPose.rotation().toQuaternion().w();
odometry.twist.twist.linear.x = currentState.velocity().x();
odometry.twist.twist.linear.y = currentState.velocity().y();
odometry.twist.twist.linear.z = currentState.velocity().z();
odometry.twist.twist.angular.x = thisImu.angular_velocity.x + prevBiasOdom.gyroscope().x();
odometry.twist.twist.angular.y = thisImu.angular_velocity.y + prevBiasOdom.gyroscope().y();
odometry.twist.twist.angular.z = thisImu.angular_velocity.z + prevBiasOdom.gyroscope().z();
pubImuOdometry.publish(odometry);
}
};
/**
* 订阅激光里程计，来自mapOptimization
* 1、每隔100帧激光里程计，重置ISAM2优化器，添加里程计、速度、偏置先验因子，执行优化
* 2、计算前一帧激光里程计与当前帧激光里程计之间的imu预积分量，用前一帧状态施加预积分量得到当前帧初始状态估计，添加来自mapOptimization的当前帧位姿，进行因子图优化，更新当前帧状态
* 3、优化之后，执行重传播；优化更新了imu的偏置，用最新的偏置重新计算当前激光里程计时刻之后的imu预积分，这个预积分用于计算每时刻位姿
*/
void odometryHandler(const nav_msgs::Odometry::ConstPtr& odomMsg)
{
std::lock_guard<std::mutex> lock(mtx);
// 当前帧激光里程计时间戳
double currentCorrectionTime = ROS_TIME(odomMsg);
// 确保imu优化队列中有imu数据进行预积分
if (imuQueOpt.empty())
return;
// 当前帧激光位姿，来自scan-to-map匹配、因子图优化后的位姿
float p_x = odomMsg->pose.pose.position.x;
float p_y = odomMsg->pose.pose.position.y;
float p_z = odomMsg->pose.pose.position.z;
float r_x = odomMsg->pose.pose.orientation.x;
float r_y = odomMsg->pose.pose.orientation.y;
float r_z = odomMsg->pose.pose.orientation.z;
float r_w = odomMsg->pose.pose.orientation.w;
bool degenerate = (int)odomMsg->pose.covariance[0] == 1 ? true : false;
gtsam::Pose3 lidarPose = gtsam::Pose3(gtsam::Rot3::Quaternion(r_w, r_x, r_y, r_z), gtsam::Point3(p_x, p_y, p_z));
// 0. 系统初始化，第一帧
if (systemInitialized == false)
{
// 重置ISAM2优化器
resetOptimization();
// 从imu优化队列中删除当前帧激光里程计时刻之前的imu数据
while (!imuQueOpt.empty())
{
if (ROS_TIME(&imuQueOpt.front()) < currentCorrectionTime - delta_t)
{
lastImuT_opt = ROS_TIME(&imuQueOpt.front());
imuQueOpt.pop_front();
}
else
break;
}
// 添加里程计位姿先验因子
prevPose_ = lidarPose.compose(lidar2Imu);
gtsam::PriorFactor<gtsam::Pose3> priorPose(X(0), prevPose_, priorPoseNoise);
graphFactors.add(priorPose);
// 添加速度先验因子
prevVel_ = gtsam::Vector3(0, 0, 0);
gtsam::PriorFactor<gtsam::Vector3> priorVel(V(0), prevVel_, priorVelNoise);
graphFactors.add(priorVel);
// 添加imu偏置先验因子
prevBias_ = gtsam::imuBias::ConstantBias();
gtsam::PriorFactor<gtsam::imuBias::ConstantBias> priorBias(B(0), prevBias_, priorBiasNoise);
graphFactors.add(priorBias);
// 变量节点赋初值
graphValues.insert(X(0), prevPose_);
graphValues.insert(V(0), prevVel_);
graphValues.insert(B(0), prevBias_);
// 优化一次
optimizer.update(graphFactors, graphValues);
graphFactors.resize(0);
graphValues.clear();
// 重置优化之后的偏置
imuIntegratorImu_->resetIntegrationAndSetBias(prevBias_);
imuIntegratorOpt_->resetIntegrationAndSetBias(prevBias_);
key = 1;
systemInitialized = true;
return;
}
// 每隔100帧激光里程计，重置ISAM2优化器，保证优化效率
if (key == 100)
{
// 前一帧的位姿、速度、偏置噪声模型
gtsam::noiseModel::Gaussian::shared_ptr updatedPoseNoise = gtsam::noiseModel::Gaussian::Covariance(optimizer.marginalCovariance(X(key-1)));
gtsam::noiseModel::Gaussian::shared_ptr updatedVelNoise = gtsam::noiseModel::Gaussian::Covariance(optimizer.marginalCovariance(V(key-1)));
gtsam::noiseModel::Gaussian::shared_ptr updatedBiasNoise = gtsam::noiseModel::Gaussian::Covariance(optimizer.marginalCovariance(B(key-1)));
// 重置ISAM2优化器
resetOptimization();
// 添加位姿先验因子，用前一帧的值初始化
gtsam::PriorFactor<gtsam::Pose3> priorPose(X(0), prevPose_, updatedPoseNoise);
graphFactors.add(priorPose);
// 添加速度先验因子，用前一帧的值初始化
gtsam::PriorFactor<gtsam::Vector3> priorVel(V(0), prevVel_, updatedVelNoise);
graphFactors.add(priorVel);
// 添加偏置先验因子，用前一帧的值初始化
gtsam::PriorFactor<gtsam::imuBias::ConstantBias> priorBias(B(0), prevBias_, updatedBiasNoise);
graphFactors.add(priorBias);
// 变量节点赋初值，用前一帧的值初始化
graphValues.insert(X(0), prevPose_);
graphValues.insert(V(0), prevVel_);
graphValues.insert(B(0), prevBias_);
// 优化一次
optimizer.update(graphFactors, graphValues);
graphFactors.resize(0);
graphValues.clear();
key = 1;
}
// 1. 计算前一帧与当前帧之间的imu预积分量，用前一帧状态施加预积分量得到当前帧初始状态估计，添加来自mapOptimization的当前帧位姿，进行因子图优化，更新当前帧状态
while (!imuQueOpt.empty())
{
// 提取前一帧与当前帧之间的imu数据，计算预积分
sensor_msgs::Imu *thisImu = &imuQueOpt.front();
double imuTime = ROS_TIME(thisImu);
if (imuTime < currentCorrectionTime - delta_t)
{
// 两帧imu数据时间间隔
double dt = (lastImuT_opt < 0) ? (1.0 / 500.0) : (imuTime - lastImuT_opt);
// imu预积分数据输入：加速度、角速度、dt
imuIntegratorOpt_->integrateMeasurement(
gtsam::Vector3(thisImu->linear_acceleration.x, thisImu->linear_acceleration.y, thisImu->linear_acceleration.z),
gtsam::Vector3(thisImu->angular_velocity.x, thisImu->angular_velocity.y, thisImu->angular_velocity.z), dt);
lastImuT_opt = imuTime;
// 从队列中删除已经处理的imu数据
imuQueOpt.pop_front();
}
else
break;
}
// 添加imu预积分因子
const gtsam::PreintegratedImuMeasurements& preint_imu = dynamic_cast<const gtsam::PreintegratedImuMeasurements&>(*imuIntegratorOpt_);
// 参数：前一帧位姿，前一帧速度，当前帧位姿，当前帧速度，前一帧偏置，预计分量
gtsam::ImuFactor imu_factor(X(key - 1), V(key - 1), X(key), V(key), B(key - 1), preint_imu);
graphFactors.add(imu_factor);
// 添加imu偏置因子，前一帧偏置，当前帧偏置，观测值，噪声协方差；deltaTij()是积分段的时间
graphFactors.add(gtsam::BetweenFactor<gtsam::imuBias::ConstantBias>(B(key - 1), B(key), gtsam::imuBias::ConstantBias(),
gtsam::noiseModel::Diagonal::Sigmas(sqrt(imuIntegratorOpt_->deltaTij()) * noiseModelBetweenBias)));
// 添加位姿因子
gtsam::Pose3 curPose = lidarPose.compose(lidar2Imu);
gtsam::PriorFactor<gtsam::Pose3> pose_factor(X(key), curPose, degenerate ? correctionNoise2 : correctionNoise);
graphFactors.add(pose_factor);
// 用前一帧的状态、偏置，施加imu预计分量，得到当前帧的状态
gtsam::NavState propState_ = imuIntegratorOpt_->predict(prevState_, prevBias_);
// 变量节点赋初值
graphValues.insert(X(key), propState_.pose());
graphValues.insert(V(key), propState_.v());
graphValues.insert(B(key), prevBias_);
// 优化
optimizer.update(graphFactors, graphValues);
optimizer.update();
graphFactors.resize(0);
graphValues.clear();
// 优化结果
gtsam::Values result = optimizer.calculateEstimate();
// 更新当前帧位姿、速度
prevPose_ = result.at<gtsam::Pose3>(X(key));
prevVel_ = result.at<gtsam::Vector3>(V(key));
// 更新当前帧状态
prevState_ = gtsam::NavState(prevPose_, prevVel_);
// 更新当前帧imu偏置
prevBias_ = result.at<gtsam::imuBias::ConstantBias>(B(key));
// 重置预积分器，设置新的偏置，这样下一帧激光里程计进来的时候，预积分量就是两帧之间的增量
imuIntegratorOpt_->resetIntegrationAndSetBias(prevBias_);
// imu因子图优化结果，速度或者偏置过大，认为失败
if (failureDetection(prevVel_, prevBias_))
{
// 重置参数
resetParams();
return;
}
// 2. 优化之后，执行重传播；优化更新了imu的偏置，用最新的偏置重新计算当前激光里程计时刻之后的imu预积分，这个预积分用于计算每时刻位姿
prevStateOdom = prevState_;
prevBiasOdom = prevBias_;
// 从imu队列中删除当前激光里程计时刻之前的imu数据
double lastImuQT = -1;
while (!imuQueImu.empty() && ROS_TIME(&imuQueImu.front()) < currentCorrectionTime - delta_t)
{
lastImuQT = ROS_TIME(&imuQueImu.front());
imuQueImu.pop_front();
}
// 对剩余的imu数据计算预积分
if (!imuQueImu.empty())
{
// 重置预积分器和最新的偏置
imuIntegratorImu_->resetIntegrationAndSetBias(prevBiasOdom);
// 计算预积分
for (int i = 0; i < (int)imuQueImu.size(); ++i)
{
sensor_msgs::Imu *thisImu = &imuQueImu[i];
double imuTime = ROS_TIME(thisImu);
double dt = (lastImuQT < 0) ? (1.0 / 500.0) :(imuTime - lastImuQT);
imuIntegratorImu_->integrateMeasurement(gtsam::Vector3(thisImu->linear_acceleration.x, thisImu->linear_acceleration.y, thisImu->linear_acceleration.z),
gtsam::Vector3(thisImu->angular_velocity.x, thisImu->angular_velocity.y, thisImu->angular_velocity.z), dt);
lastImuQT = imuTime;
}
}
++key;
doneFirstOpt = true;
}
232
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
