imuPreintegration
总体叙述
位姿前端的预积分,数据间加了多帧帧间优化,优化变量pose,vel,bias
- 订阅激光里程计(来自MapOptimization)和IMU里程计,根据前一时刻激光里程计,
和该时刻到当前时刻的IMU里程计变换增量,计算当前时刻IMU里程计;rviz展示IMU里程计轨迹(局部) - 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 - 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
1. ParamServer
1.1 参数定义
1.1 other
ros::NodeHandle nh;
std::string robot_id;
1.2 topic
string pointCloudTopic;
string imuTopic;
string odomTopic;
string gpsTopic;
1.3 Frame
string lidarFrame;
string baselinkFrame;
string odometryFrame;
string mapFrame;
1.4 GPS setting
bool useImuHeadingInitialization;
bool useGpsElevation; //海拔
float gpsCovThreshold;
float poseCovThreshold; 位姿协方差阈值
1.5 save pcd
bool savePCD;
string savePCDDirectory;
1.6 Lidar Sensor Configuration
SensorType sensor; // velodyne
int N_SCAN; // 线数 16
int Horizon_SCAN; // 水平扫描点
int downsampleRate;
float lidarMinRange;
float lidarMaxRange;
1.7 IMU
float imuAccNoise;
float imuGyrNoise;
float imuAccBiasN;
float imuGyrBiasN;
float imuGravity;
float imuRPYWeight;
vector<double> extRotV;
vector<double> extRPYV;
vector<double> extTransV;
Eigen::Matrix3d extRot;
Eigen::Matrix3d extRPY;
Eigen::Vector3d extTrans;
Eigen::Quaterniond extQRPY;
1.8 LOAM
float edgeThreshold; // 0.1
float surfThreshold; // 0.1
int edgeFeatureMinValidNum; //边特征的最小有效个数 10
int surfFeatureMinValidNum; // 100
1.9 voxel filter paprams
float odometrySurfLeafSize; // 0.2
float mappingCornerLeafSize; // 0.2
float mappingSurfLeafSize ; // 0.2
float z_tollerance; //FLT_MAX
float rotation_tollerance; //FLT_MAX
1.10 CPU Params
int numberOfCores; // 内核数 2
double mappingProcessInterval; // 建图间隔 0.15
1.11 Surrounding map
float surroundingkeyframeAddingDistThreshold; // 1.0
float surroundingkeyframeAddingAngleThreshold; // 0.
float surroundingKeyframeDensity; // 密度 1.0
float surroundingKeyframeSearchRadius; // 50.
1.12 Loop closure
bool loopClosureEnableFlag;
float loopClosureFrequency; // 1.0
int surroundingKeyframeSize; // 50
float historyKeyframeSearchRadius; // 10.0
float historyKeyframeSearchTimeDiff; // 30.0
int historyKeyframeSearchNum; //25
float historyKeyframeFitnessScore; //0.3
1.13 lobal map visualization radius
float globalMapVisualizationSearchRadius; // 1e3
float globalMapVisualizationPoseDensity; // 10.0
float globalMapVisualizationLeafSize; // 1.0
1.2 ParamServer 构造
param ros read
nh.param<int>("lio_sam/N_SCAN", N_SCAN, 16);
nh.param<float>("lio_sam/lidarMinRange", lidarMinRange, 1.0);
nh.param<bool>("lio_sam/loopClosureEnableFlag", loopClosureEnableFlag, false);
usleep(100);
1.3 other 函数
- IMU数据转换
imuConverter - 发布点云函数
publishCloud - IMU ros 角度,加速度
imuAngular2rosAngular - 点距离 一个点+二个点
pointDistance
2. TransformFusion
优化变量
- using gtsam::symbol_shorthand::X; // Pose3 (x,y,z,r,p,y)
- using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot)
- using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz)
2.1 成员变量
互斥锁
std::mutex mtx;
订阅话题
subImuOdometry;
subLaserOdometry;
发布话题
发布Imu里程计 pubImuOdometry
发布Imu 路径 pubImuPath
lidarOdomAffine;
imuOdomAffineFront;
imuOdomAffineBack;
tf 接听
tf::TransformListener tfListener;
tf::StampedTransform lidar2Baselink;
里程计队列
double lidarOdomTime = -1;
deque<nav_msgs::Odometry> imuOdomQueue;
2.2 TransformFusion 构造
1、接听激光外参
// 如果lidar系与baselink系不同(激光系和载体系),需要外部提供二者之间的变换关系
if(lidarFrame != baselinkFrame)
{
try
{
// 等待3s + lidar系到baselink系的变换
tfListener.waitForTransform(lidarFrame, baselinkFrame, ros::Time(0), ros::Duration(3.0));
tfListener.lookupTransform(lidarFrame, baselinkFrame, ros::Time(0), lidar2Baselink);
}
catch (tf::TransformException ex)
{
ROS_ERROR("%s",ex.what());
}
}
2、订阅发布地图
// 订阅激光里程计,来自mapOptimization
subLaserOdometry = nh.subscribe<nav_msgs::Odometry>("lio_sam/mapping/odometry", 5, &TransformFusion::lidarOdometryHandler, this, ros::TransportHints().tcpNoDelay());
// 订阅imu里程计,来自IMUPreintegration
subImuOdometry = nh.subscribe<nav_msgs::Odometry>(odomTopic+"_incremental", 2000, &TransformFusion::imuOdometryHandler, this, ros::TransportHints().tcpNoDelay());
// 发布imu里程计,用于rviz展示
pubImuOdometry = nh.advertise<nav_msgs::Odometry>(odomTopic, 2000);
// 发布imu里程计轨迹
pubImuPath = nh.advertise<nav_msgs::Path> ("lio_sam/imu/path", 1);
2.3 other函数
1. 里程位姿的转换
Eigen::Affine3f odom2affine(nav_msgs::Odometry odom)
{
double x, y, z, roll, pitch, yaw;
x = odom.pose.pose.position.x;
y = odom.pose.pose.position.y;
z = odom.pose.pose.position.z;
tf::Quaternion orientation;
tf::quaternionMsgToTF(odom.pose.pose.orientation, orientation);
tf::Matrix3x3(orientation).getRPY(roll, pitch, yaw);
return pcl::getTransformation(x, y, z, roll, pitch, yaw);
}
Affine3f中有rotation和translation分量,但Matrix4f中没有。
//1、Matrix4f到Affine3f:
Matrix4f m4f_transform;
Eigen::Transform<float, 3, Eigen::Affine> a3f_transform (m4f_transform);
//2、Affine3f到Matrix4f:
Eigen::Transform<float, 3, Eigen::Affine> a3f_transform ;
Matrix4f m4f_transform=a3f_transform.matrix();
2. Imu里程计callback
订阅imu里程计,来自IMUPreintegration
- 1、以最近一帧激光里程计位姿为基础,计算该时刻与当前时刻间imu里程计增量位姿变换,相乘得到当前时刻imu里程计位姿
- 2、发布当前时刻里程计位姿,用于rviz展示;发布imu里程计路径,注:只是最近一帧激光里程计时刻与当前时刻之间的一段
void imuOdometryHandler(const nav_msgs::Odometry::ConstPtr& odomMsg)
{
// static tf // 发布tf,map与odom系设为同一个系
static tf::TransformBroadcaster tfMap2Odom;
static tf::Transform map_to_odom = tf::Transform(tf::createQuaternionFromRPY(0, 0, 0), tf::Vector3(0, 0, 0));
tfMap2Odom.sendTransform(tf::StampedTransform(map_to_odom, odomMsg->header.stamp, mapFrame, odometryFrame));
std::lock_guard<std::mutex> lock(mtx);
// 添加imu里程计到队列
imuOdomQueue.push_back(*odomMsg);
// 从imu里程计队列中删除当前(最近的一帧)激光里程计时刻之前的数据
// get latest odometry (at current IMU stamp)
if (lidarOdomTime == -1)
return;
while (!imuOdomQueue.empty())
{
if (imuOdomQueue.front().header.stamp.toSec() <= lidarOdomTime)
imuOdomQueue.pop_front();
else
break;
}
// 最近的一帧激光里程计时刻对应imu里程计位姿
Eigen::Affine3f imuOdomAffineFront = odom2affine(imuOdomQueue.front());
// 当前时刻imu里程计位姿
Eigen::Affine3f imuOdomAffineBack = odom2affine(imuOdomQueue.back());
// imu里程计增量位姿变换
Eigen::Affine3f imuOdomAffineIncre = imuOdomAffineFront.inverse() * imuOdomAffineBack;
// 最近的一帧激光里程计位姿 * imu里程计增量位姿变换 = 当前时刻imu里程计位姿
Eigen::Affine3f imuOdomAffineLast = lidarOdomAffine * imuOdomAffineIncre;
float x, y, z, roll, pitch, yaw;
pcl::getTranslationAndEulerAngles(imuOdomAffineLast, x, y, z, roll, pitch, yaw);
// publish latest odometry // 发布当前时刻里程计位姿
nav_msgs::Odometry laserOdometry = imuOdomQueue.back();
laserOdometry.pose.pose.position.x = x;
laserOdometry.pose.pose.position.y = y;
laserOdometry.pose.pose.position.z = z;
laserOdometry.pose.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
pubImuOdometry.publish(laserOdometry);
// publish tf // 发布tf,当前时刻odom与baselink系变换关系
static tf::TransformBroadcaster tfOdom2BaseLink;
tf::Transform tCur;
tf::poseMsgToTF(laserOdometry.pose.pose, tCur);
if(lidarFrame != baselinkFrame)
tCur = tCur * lidar2Baselink;
tf::StampedTransform odom_2_baselink = tf::StampedTransform(tCur, odomMsg->header.stamp, odometryFrame, baselinkFrame);
tfOdom2BaseLink.sendTransform(odom_2_baselink);
// publish IMU path // 发布imu里程计路径,注:只是最近一帧激光里程计时刻与当前时刻之间的一段
static nav_msgs::Path imuPath;
static double last_path_time = -1;
double imuTime = imuOdomQueue.back().header.stamp.toSec();
if (imuTime - last_path_time > 0.1)
{
last_path_time = imuTime;
geometry_msgs::PoseStamped pose_stamped;
pose_stamped.header.stamp = imuOdomQueue.back().header.stamp;
pose_stamped.header.frame_id = odometryFrame;
pose_stamped.pose = laserOdometry.pose.pose;
imuPath.poses.push_back(pose_stamped);
while(!imuPath.poses.empty() && imuPath.poses.front().header.stamp.toSec() < lidarOdomTime - 1.0)
imuPath.poses.erase(imuPath.poses.begin());
if (pubImuPath.getNumSubscribers() != 0)
{
imuPath.header.stamp = imuOdomQueue.back().header.stamp;
imuPath.header.frame_id = odometryFrame;
pubImuPath.publish(imuPath);
}
}
}
3. 激光里程计callback
将激光里程计数据赋值
3. IMUPreintegration
- 用激光里程计,两帧激光里程计之间的IMU预计分量构建因子图,优化当前帧的状态(包括位姿、速度、偏置);
- 以优化后的状态为基础,施加IMU预计分量,得到每一时刻的IMU里程计。
3.1 成员变量
// 公共锁
std::mutex mtx;
# 订阅imu,odom,发布imu_odom
ros::Subscriber subImu;
ros::Subscriber subOdometry;
ros::Publisher pubImuOdometry;
bool systemInitialized = false;
// 噪声协方差,gtsam因子图中
gtsam::noiseModel::Diagonal::shared_ptr priorPoseNoise;
gtsam::noiseModel::Diagonal::shared_ptr priorVelNoise;
gtsam::noiseModel::Diagonal::shared_ptr priorBiasNoise;
gtsam::noiseModel::Diagonal::shared_ptr correctionNoise;
gtsam::noiseModel::Diagonal::shared_ptr correctionNoise2;
gtsam::Vector noiseModelBetweenBias;
// imu预积分器
gtsam::PreintegratedImuMeasurements *imuIntegratorOpt_;
gtsam::PreintegratedImuMeasurements *imuIntegratorImu_;
// imu数据队列
std::deque<sensor_msgs::Imu> imuQueOpt;
std::deque<sensor_msgs::Imu> imuQueImu;
// imu因子图优化过程中的状态变量 pose\vel\status\bias
gtsam::Pose3 prevPose_;
gtsam::Vector3 prevVel_;
gtsam::NavState prevState_;
gtsam::imuBias::ConstantBias prevBias_;
gtsam::NavState prevStateOdom;
gtsam::imuBias::ConstantBias prevBiasOdom;
bool doneFirstOpt = false;
double lastImuT_imu = -1;
double lastImuT_opt = -1;
// ISAM2优化器
gtsam::ISAM2 optimizer;
gtsam::NonlinearFactorGraph graphFactors;
gtsam::Values graphValues;
const double delta_t = 0;
int key = 1;
// imu2lidar lidar2imu
gtsam::Pose3 imu2Lidar = gtsam::Pose3(gtsam::Rot3(1, 0, 0, 0), gtsam::Point3(-extTrans.x(), -extTrans.y(), -extTrans.z()));
gtsam::Pose3 lidar2Imu = gtsam::Pose3(gtsam::Rot3(1, 0, 0, 0), gtsam::Point3(extTrans.x(), extTrans.y(), extTrans.z()));
3.1 构造
初始化订阅发布,设定参数,构造imuIntegratorImu_+imuIntegratorOpt_
// 订阅imu原始数据,用下面因子图优化的结果,施加两帧之间的imu预计分量,预测每一时刻(imu频率)的imu里程计
subImu = nh.subscribe<sensor_msgs::Imu> (imuTopic, 2000, &IMUPreintegration::imuHandler, this, ros::TransportHints().tcpNoDelay());
// 订阅激光里程计,来自mapOptimization,用两帧之间的imu预计分量构建因子图,优化当前帧位姿(这个位姿仅用于更新每时刻的imu里程计,以及下一次因子图优化)
subOdometry = nh.subscribe<nav_msgs::Odometry>("lio_sam/mapping/odometry_incremental", 5, &IMUPreintegration::odometryHandler, this, ros::TransportHints().tcpNoDelay());
// 发布imu里程计
pubImuOdometry = nh.advertise<nav_msgs::Odometry> (odomTopic+"_incremental", 2000);
// imu预积分的噪声协方差
boost::shared_ptr<gtsam::PreintegrationParams> p = gtsam::PreintegrationParams::MakeSharedU(imuGravity);
p->accelerometerCovariance = gtsam::Matrix33::Identity(3,3) * pow(imuAccNoise, 2); // acc white noise in continuous
p->gyroscopeCovariance = gtsam::Matrix33::Identity(3,3) * pow(imuGyrNoise, 2); // gyro white noise in continuous
p->integrationCovariance = gtsam::Matrix33::Identity(3,3) * pow(1e-4, 2); // error committed in integrating position from velocities
gtsam::imuBias::ConstantBias prior_imu_bias((gtsam::Vector(6) << 0, 0, 0, 0, 0, 0).finished());; // assume zero initial bias
// 噪声先验
priorPoseNoise = gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1e-2, 1e-2, 1e-2, 1e-2, 1e-2, 1e-2).finished()); // rad,rad,rad,m, m, m
priorVelNoise = gtsam::noiseModel::Isotropic::Sigma(3, 1e4); // m/s
priorBiasNoise = gtsam::noiseModel::Isotropic::Sigma(6, 1e-3); // 1e-2 ~ 1e-3 seems to be good
// 激光里程计scan-to-map优化过程中发生退化,则选择一个较大的协方差
correctionNoise = gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 0.05, 0.05, 0.05, 0.1, 0.1, 0.1).finished()); // rad,rad,rad,m, m, m
correctionNoise2 = gtsam::noiseModel::Diagonal::Sigmas((gtsam::Vector(6) << 1, 1, 1, 1, 1, 1).finished()); // rad,rad,rad,m, m, m
noiseModelBetweenBias = (gtsam::Vector(6) << imuAccBiasN, imuAccBiasN, imuAccBiasN, imuGyrBiasN, imuGyrBiasN, imuGyrBiasN).finished();
// imu预积分器,用于预测每一时刻(imu频率)的imu里程计(转到lidar系了,与激光里程计同一个系)
imuIntegratorImu_ = new gtsam::PreintegratedImuMeasurements(p, prior_imu_bias); // setting up the IMU integration for IMU message thread
// imu预积分器,用于因子图优化
imuIntegratorOpt_ = new gtsam::PreintegratedImuMeasurements(p, prior_imu_bias); // setting up the IMU integration for optimization
3.3 other
imuHandler callback
* 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
1、将imu数据放入两队列中 imuQueOpt 、imuQueImu
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);
2、计算dt,并赋值 lastImuT_imu,这儿时间回跳也没关系
double imuTime = ROS_TIME(&thisImu);
double dt = (lastImuT_imu < 0) ? (1.0 / 500.0) : (imuTime - lastImuT_imu);
lastImuT_imu = imuTime;
3、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
// integrate this single imu message
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);
4、预测odometry
// predict odometry
gtsam::NavState currentState = imuIntegratorImu_->predict(prevStateOdom, prevBiasOdom);
// publish odometry
nav_msgs::Odometry odometry;
odometry.header.stamp = thisImu.header.stamp;
odometry.header.frame_id = odometryFrame;
odometry.child_frame_id = "odom_imu";
5、转换 imu_pose到激光frame
// transform imu pose to ldiar
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);
odometryHandler
/**
* 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
*/
利用优化 估计了bias和角度
1、当前帧激光位姿,来自scan-to-map匹配、因子图优化后的位姿
double currentCorrectionTime = ROS_TIME(odomMsg);
// make sure we have imu data to integrate
if (imuQueOpt.empty())
return;
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));
2、初始化第一帧
// 0. initialize system
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;
}
// initial pose 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);
// initial velocity 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);
// initial bias 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);
// add values 变量节点赋初值
graphValues.insert(X(0), prevPose_);
graphValues.insert(V(0), prevVel_);
graphValues.insert(B(0), prevBias_);
// optimize once 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;
}
3、每隔100帧激光里程计,重置ISAM2优化器,保证优化效率
// reset graph for speed
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)));
// reset graph 重置ISAM2优化器
resetOptimization();
// add pose 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);
// add velocity 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);
// add bias 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);
// add values 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_);
// optimize once 优化一次
optimizer.update(graphFactors, graphValues);
graphFactors.resize(0);
graphValues.clear();
key = 1;
}
4、 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())
{
// pop and integrate imu data that is between two optimizations
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);
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;
}
5、添加imu预积分到因子
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);
6、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)));
7、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);
8、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_);
9、优化
optimizer.update(graphFactors, graphValues);
optimizer.update();
graphFactors.resize(0);
graphValues.clear();
10、为下次操作更新 数据
gtsam::Values result = optimizer.calculateEstimate();
prevPose_ = result.at<gtsam::Pose3>(X(key));
prevVel_ = result.at<gtsam::Vector3>(V(key));
prevState_ = gtsam::NavState(prevPose_, prevVel_);
prevBias_ = result.at<gtsam::imuBias::ConstantBias>(B(key));
// Reset the optimization preintegration object.
imuIntegratorOpt_->resetIntegrationAndSetBias(prevBias_);
11、检测优化,若失败则restParam
imu因子图优化结果,速度或者偏置过大,认为失败
// check optimization
if (failureDetection(prevVel_, prevBias_))
{
resetParams();
return;
}
12、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_;
// first pop imu message older than current correction data
double lastImuQT = -1;
while (!imuQueImu.empty() && ROS_TIME(&imuQueImu.front()) < currentCorrectionTime - delta_t)
{
lastImuQT = ROS_TIME(&imuQueImu.front());
imuQueImu.pop_front();
}
// repropogate 对剩余的imu数据计算预积分
if (!imuQueImu.empty())
{
// reset bias use the newly optimized bias
imuIntegratorImu_->resetIntegrationAndSetBias(prevBiasOdom);
// integrate imu message from the beginning of this optimization
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;
failureDetection
imu因子图优化结果,速度或者偏置过大,认为失败
速度 模大于30
bias 加速度和角速度 模 大于1
Eigen::Vector3f vel(velCur.x(), velCur.y(), velCur.z());
if (vel.norm() > 30)
{
ROS_WARN("Large velocity, reset IMU-preintegration!");
return true;
}
Eigen::Vector3f ba(biasCur.accelerometer().x(), biasCur.accelerometer().y(), biasCur.accelerometer().z());
Eigen::Vector3f bg(biasCur.gyroscope().x(), biasCur.gyroscope().y(), biasCur.gyroscope().z());
if (ba.norm() > 1.0 || bg.norm() > 1.0)
{
ROS_WARN("Large bias, reset IMU-preintegration!");
return true;
}
return false;