激光雷达里程计的实现思路

于 2024-07-08 14:52:04 发布
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本文链接：https://blog.csdn.net/xiner0114/article/details/140266184
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文章目录

直接法

不需要提取特征，将过去一段时间内的点云组成一个局部地图，将当前帧与局部地图进行配准。

NDT构建激光雷达里程计

建图

每隔一定距离或一定角度就取一个关键帧，再把最近的若干个关键帧拼成一个局部地图，作为NDT算法的配准目标。

src/ch7/direct_ndt_io.cc

添加地图

void DirectNDTLO::AddCloud(CloudPtr scan, SE3& pose) {
    if (local_map_ == nullptr) {
        // 第一个帧，直接加入local map
        local_map_.reset(new PointCloudType);
        // operator += 用来拼接点云
        *local_map_ += *scan;
        pose = SE3();
        last_kf_pose_ = pose;

        if (options_.use_pcl_ndt_) {
            ndt_pcl_.setInputTarget(local_map_);
        } else {
            ndt_.SetTarget(local_map_);
        }

        return;
    }

    // 计算scan相对于local map的位姿
    pose = AlignWithLocalMap(scan);
    CloudPtr scan_world(new PointCloudType);
    pcl::transformPointCloud(*scan, *scan_world, pose.matrix().cast<float>());

    if (IsKeyframe(pose)) {
        last_kf_pose_ = pose;

        // 重建local map
        scans_in_local_map_.emplace_back(scan_world);
        if (scans_in_local_map_.size() > options_.num_kfs_in_local_map_) {
            scans_in_local_map_.pop_front();
        }

        local_map_.reset(new PointCloudType);
        for (auto& scan : scans_in_local_map_) {
            *local_map_ += *scan;
        }

        if (options_.use_pcl_ndt_) {
            ndt_pcl_.setInputTarget(local_map_);
        } else {
            ndt_.SetTarget(local_map_);
        }
    }

    if (viewer_ != nullptr) {
        viewer_->SetPoseAndCloud(pose, scan_world);
    }
}

bool DirectNDTLO::IsKeyframe(const SE3& current_pose) {
    // 只要与上一帧相对运动超过一定距离或角度，就记关键帧
    SE3 delta = last_kf_pose_.inverse() * current_pose;
    return delta.translation().norm() > options_.kf_distance_ ||
           delta.so3().log().norm() > options_.kf_angle_deg_ * math::kDEG2RAD;
}

配准

用上两帧的相对运动作为运动模型，预测当前帧的位姿，作为NDT的位姿初值。

SE3 DirectNDTLO::AlignWithLocalMap(CloudPtr scan) {
    if (options_.use_pcl_ndt_) {
        ndt_pcl_.setInputSource(scan);
    } else {
        ndt_.SetSource(scan);
    }

    CloudPtr output(new PointCloudType());

    SE3 guess;
    bool align_success = true;
    if (estimated_poses_.size() < 2) {
        if (options_.use_pcl_ndt_) {
            ndt_pcl_.align(*output, guess.matrix().cast<float>());
            guess = Mat4ToSE3(ndt_pcl_.getFinalTransformation().cast<double>().eval());
        } else {
            align_success = ndt_.AlignNdt(guess);
        }
    } else {
        // 从最近两个pose来推断
        SE3 T1 = estimated_poses_[estimated_poses_.size() - 1];
        SE3 T2 = estimated_poses_[estimated_poses_.size() - 2];
        guess = T1 * (T2.inverse() * T1);

        if (options_.use_pcl_ndt_) {
            ndt_pcl_.align(*output, guess.matrix().cast<float>());
            guess = Mat4ToSE3(ndt_pcl_.getFinalTransformation().cast<double>().eval());
        } else {
            align_success = ndt_.AlignNdt(guess);
        }
    }

    LOG(INFO) << "pose: " << guess.translation().transpose() << ", "
              << guess.so3().unit_quaternion().coeffs().transpose();

    if (options_.use_pcl_ndt_) {
        LOG(INFO) << "trans prob: " << ndt_pcl_.getTransformationProbability();
    }

    estimated_poses_.emplace_back(guess);
    return guess;
}

void DirectNDTLO::SaveMap(const std::string& map_path) {
    if (viewer_) {
        viewer_->SaveMap(map_path);
    }
}

调用方式
src/ch7/test/test_ndt_lo.cc

/// 本程序以ULHK数据集为例
/// 测试以NDT为主的Lidar Odometry
/// 若使用PCL NDT的话，会重新建立NDT树
DEFINE_string(bag_path, "./dataset/sad/ulhk/test2.bag", "path to rosbag");
DEFINE_string(dataset_type, "ULHK", "NCLT/ULHK/KITTI/WXB_3D");  // 数据集类型
DEFINE_bool(use_pcl_ndt, false, "use pcl ndt to align?");
DEFINE_bool(use_ndt_nearby_6, false, "use ndt nearby 6?");
DEFINE_bool(display_map, true, "display map?");

int main(int argc, char** argv) {
    google::InitGoogleLogging(argv[0]);
    FLAGS_stderrthreshold = google::INFO;
    FLAGS_colorlogtostderr = true;
    google::ParseCommandLineFlags(&argc, &argv, true);

    sad::RosbagIO rosbag_io(fLS::FLAGS_bag_path, sad::Str2DatasetType(FLAGS_dataset_type));

    sad::DirectNDTLO::Options options;
    options.use_pcl_ndt_ = fLB::FLAGS_use_pcl_ndt;
    options.ndt3d_options_.nearby_type_ =
        FLAGS_use_ndt_nearby_6 ? sad::Ndt3d::NearbyType::NEARBY6 : sad::Ndt3d::NearbyType::CENTER;
    options.display_realtime_cloud_ = FLAGS_display_map;
    sad::DirectNDTLO ndt_lo(options);

    rosbag_io
        .AddAutoPointCloudHandle([&ndt_lo](sensor_msgs::PointCloud2::Ptr msg) -> bool {
            sad::common::Timer::Evaluate(
                [&]() {
                    SE3 pose;
                    ndt_lo.AddCloud(sad::VoxelCloud(sad::PointCloud2ToCloudPtr(msg)), pose);
                },
                "NDT registration");
            return true;
        })
        .Go();

    if (FLAGS_display_map) {
        // 把地图存下来
        ndt_lo.SaveMap("./data/ch7/map.pcd");
    }

    sad::common::Timer::PrintAll();
    LOG(INFO) << "done.";

    return 0;
}

此处没有用PCL自带的ndt，而是单独实现的ndt方法，好处：
1、可以设置体素的最近邻查找方法。不用PCL的k-d树查找，不存在k-d树构建的时间消耗。
2、可以自定义并行处理来提高效率。

增量NDT里程计

不重构NDT内部状态，不重建k-d树等数据结构，而是把配准好的点云更新到NDT的每个体素内部，更新高斯分布状态，再做下一步配准。

增量NDT类定义
src/ch7/ndt_inc.h

/**
 * 增量版本的NDT
 * 内部会维护增量式的voxels，自动删除较旧的voxel，往voxel里添加点云时，更新其均值和协方差估计
 */
class IncNdt3d {
   public:
    enum class NearbyType {
        CENTER,   // 只考虑中心
        NEARBY6,  // 上下左右前后
    };

   ...

    using KeyType = Eigen::Matrix<int, 3, 1>;  // 体素的索引

    /// 体素内置结构
    struct VoxelData {
        VoxelData() {}
        VoxelData(const Vec3d& pt) {
            pts_.emplace_back(pt);
            num_pts_ = 1;
        }

        void AddPoint(const Vec3d& pt) {
            pts_.emplace_back(pt);
            if (!ndt_estimated_) {
                num_pts_++;
            }
        }

        std::vector<Vec3d> pts_;       // 内部点，多于一定数量之后再估计均值和协方差
        Vec3d mu_ = Vec3d::Zero();     // 均值
        Mat3d sigma_ = Mat3d::Zero();  // 协方差
        Mat3d info_ = Mat3d::Zero();   // 协方差之逆

        bool ndt_estimated_ = false;  // NDT是否已经估计
        int num_pts_ = 0;             // 总共的点数，用于更新估计
    };

   ...

    /// 获取一些统计信息
    int NumGrids() const { return grids_.size(); }

    /// 在voxel里添加点云，
    void AddCloud(CloudPtr cloud_world);

    /// 设置被配准的Scan
    void SetSource(CloudPtr source) { source_ = source; }

    /// 使用gauss-newton方法进行ndt配准
    bool AlignNdt(SE3& init_pose);

    ...

   private:
    /// 根据最近邻的类型，生成附近网格
    void GenerateNearbyGrids();

    /// 更新体素内部数据, 根据新加入的pts和历史的估计情况来确定自己的估计
    void UpdateVoxel(VoxelData& v);

    CloudPtr source_ = nullptr;
    Options options_;

    using KeyAndData = std::pair<KeyType, VoxelData>;  // 预定义
    std::list<KeyAndData> data_;                       // 真实数据，会缓存，也会清理
    std::unordered_map<KeyType, std::list<KeyAndData>::iterator, hash_vec<3>> grids_;  // 栅格数据，存储真实数据的迭代器
    std::vector<KeyType> nearby_grids_;                                                // 附近的栅格

    bool flag_first_scan_ = true;  // 首帧点云特殊处理
};

添加点云

src/ch7/ndt_inc.cc

void IncNdt3d::AddCloud(CloudPtr cloud_world) {
    std::set<KeyType, less_vec<3>> active_voxels;  // 记录哪些voxel被更新
    for (const auto& p : cloud_world->points) {
        auto pt = ToVec3d(p);
        auto key = CastToInt(Vec3d(pt * options_.inv_voxel_size_));
        auto iter = grids_.find(key);
        if (iter == grids_.end()) {
            // 栅格不存在
            data_.push_front({key, {pt}});
            grids_.insert({key, data_.begin()});

            if (data_.size() >= options_.capacity_) {
                // 删除一个尾部的数据
                grids_.erase(data_.back().first);
                data_.pop_back();
            }
        } else {
            // 栅格存在，添加点，更新缓存
            iter->second->second.AddPoint(pt);
            data_.splice(data_.begin(), data_, iter->second);  // 更新的那个放到最前
            iter->second = data_.begin();                      // grids时也指向最前
        }

        active_voxels.emplace(key);
    }

    // 更新active_voxels
    std::for_each(std::execution::par_unseq, active_voxels.begin(), active_voxels.end(),
                  [this](const auto& key) { UpdateVoxel(grids_[key]->second); });
    flag_first_scan_ = false;
}

更新体素

更新体素，更新高斯分布，维护索引。

void IncNdt3d::UpdateVoxel(VoxelData& v) {
    if (flag_first_scan_) {
        if (v.pts_.size() > 1) {
            math::ComputeMeanAndCov(v.pts_, v.mu_, v.sigma_, [this](const Vec3d& p) { return p; });
            v.info_ = (v.sigma_ + Mat3d::Identity() * 1e-3).inverse();  // 避免出nan
        } else {
            v.mu_ = v.pts_[0];
            v.info_ = Mat3d::Identity() * 1e2;
        }

        v.ndt_estimated_ = true;
        v.pts_.clear();
        return;
    }

    if (v.ndt_estimated_ && v.num_pts_ > options_.max_pts_in_voxel_) {
        return;
    }

    if (!v.ndt_estimated_ && v.pts_.size() > options_.min_pts_in_voxel_) {
        // 新增的voxel
        math::ComputeMeanAndCov(v.pts_, v.mu_, v.sigma_, [this](const Vec3d& p) { return p; });
        v.info_ = (v.sigma_ + Mat3d::Identity() * 1e-3).inverse();  // 避免出nan
        v.ndt_estimated_ = true;
        v.pts_.clear();
    } else if (v.ndt_estimated_ && v.pts_.size() > options_.min_pts_in_voxel_) {
        // 已经估计，而且还有新来的点
        Vec3d cur_mu, new_mu;
        Mat3d cur_var, new_var;
        math::ComputeMeanAndCov(v.pts_, cur_mu, cur_var, [this](const Vec3d& p) { return p; });
        math::UpdateMeanAndCov(v.num_pts_, v.pts_.size(), v.mu_, v.sigma_, cur_mu, cur_var, new_mu, new_var);

        v.mu_ = new_mu;
        v.sigma_ = new_var;
        v.num_pts_ += v.pts_.size();
        v.pts_.clear();

        // check info
        Eigen::JacobiSVD svd(v.sigma_, Eigen::ComputeFullU | Eigen::ComputeFullV);
        Vec3d lambda = svd.singularValues();
        if (lambda[1] < lambda[0] * 1e-3) {
            lambda[1] = lambda[0] * 1e-3;
        }

        if (lambda[2] < lambda[0] * 1e-3) {
            lambda[2] = lambda[0] * 1e-3;
        }

        Mat3d inv_lambda = Vec3d(1.0 / lambda[0], 1.0 / lambda[1], 1.0 / lambda[2]).asDiagonal();
        v.info_ = svd.matrixV() * inv_lambda * svd.matrixU().transpose();
    }
}

高斯分布合并

均值合并的公式
在这里插入图片描述

协方差合并的公式
在这里插入图片描述

src/common/math_util.h

/**
 * 高斯分布合并
 * @tparam S    scalar type
 * @tparam D    dimension
 * @param hist_m        历史点数
 * @param curr_n        当前点数
 * @param hist_mean     历史均值
 * @param hist_var      历史方差
 * @param curr_mean     当前均值
 * @param curr_var      当前方差
 * @param new_mean      新的均值
 * @param new_var       新的方差
 */
template <typename S, int D>
void UpdateMeanAndCov(int hist_m, int curr_n, const Eigen::Matrix<S, D, 1>& hist_mean,
                      const Eigen::Matrix<S, D, D>& hist_var, const Eigen::Matrix<S, D, 1>& curr_mean,
                      const Eigen::Matrix<S, D, D>& curr_var, Eigen::Matrix<S, D, 1>& new_mean,
                      Eigen::Matrix<S, D, D>& new_var) {
    assert(hist_m > 0);
    assert(curr_n > 0);
    new_mean = (hist_m * hist_mean + curr_n * curr_mean) / (hist_m + curr_n);
    new_var = (hist_m * (hist_var + (hist_mean - new_mean) * (hist_mean - new_mean).template transpose()) +
               curr_n * (curr_var + (curr_mean - new_mean) * (curr_mean - new_mean).template transpose())) /
              (hist_m + curr_n);
}

特征法

特征提取

1、计算点的曲率。
2、将点云一周分为6个区间；每个区间，进行特征提取。根据曲率，区分角点、平面点。
3、角点、平面点分开存放，总共2个pcd文件。

src/ch7/loam-like/feature_extraction.cc

void FeatureExtraction::Extract(FullCloudPtr pc_in, CloudPtr pc_out_edge, CloudPtr pc_out_surf) {
    int num_scans = 16;
    std::vector<CloudPtr> scans_in_each_line;  // 分线数的点云
    for (int i = 0; i < num_scans; i++) {
        scans_in_each_line.emplace_back(new PointCloudType);
    }

    for (auto &pt : pc_in->points) {
        assert(pt.ring >= 0 && pt.ring < num_scans);
        PointType p;
        p.x = pt.x;
        p.y = pt.y;
        p.z = pt.z;
        p.intensity = pt.intensity;

        scans_in_each_line[pt.ring]->points.emplace_back(p);
    }

    // 处理曲率
    for (int i = 0; i < num_scans; i++) {
        if (scans_in_each_line[i]->points.size() < 131) {
            continue;
        }

        std::vector<IdAndValue> cloud_curvature;  // 每条线对应的曲率
        int total_points = scans_in_each_line[i]->points.size() - 10;
        for (int j = 5; j < (int)scans_in_each_line[i]->points.size() - 5; j++) {
            // 两头留一定余量，采样周围10个点取平均值
            double diffX = scans_in_each_line[i]->points[j - 5].x + scans_in_each_line[i]->points[j - 4].x +
                           scans_in_each_line[i]->points[j - 3].x + scans_in_each_line[i]->points[j - 2].x +
                           scans_in_each_line[i]->points[j - 1].x - 10 * scans_in_each_line[i]->points[j].x +
                           scans_in_each_line[i]->points[j + 1].x + scans_in_each_line[i]->points[j + 2].x +
                           scans_in_each_line[i]->points[j + 3].x + scans_in_each_line[i]->points[j + 4].x +
                           scans_in_each_line[i]->points[j + 5].x;
            double diffY = scans_in_each_line[i]->points[j - 5].y + scans_in_each_line[i]->points[j - 4].y +
                           scans_in_each_line[i]->points[j - 3].y + scans_in_each_line[i]->points[j - 2].y +
                           scans_in_each_line[i]->points[j - 1].y - 10 * scans_in_each_line[i]->points[j].y +
                           scans_in_each_line[i]->points[j + 1].y + scans_in_each_line[i]->points[j + 2].y +
                           scans_in_each_line[i]->points[j + 3].y + scans_in_each_line[i]->points[j + 4].y +
                           scans_in_each_line[i]->points[j + 5].y;
            double diffZ = scans_in_each_line[i]->points[j - 5].z + scans_in_each_line[i]->points[j - 4].z +
                           scans_in_each_line[i]->points[j - 3].z + scans_in_each_line[i]->points[j - 2].z +
                           scans_in_each_line[i]->points[j - 1].z - 10 * scans_in_each_line[i]->points[j].z +
                           scans_in_each_line[i]->points[j + 1].z + scans_in_each_line[i]->points[j + 2].z +
                           scans_in_each_line[i]->points[j + 3].z + scans_in_each_line[i]->points[j + 4].z +
                           scans_in_each_line[i]->points[j + 5].z;
            IdAndValue distance(j, diffX * diffX + diffY * diffY + diffZ * diffZ);
            cloud_curvature.push_back(distance);
        }

        // 对每个区间选取特征，把360度分为6个区间
        for (int j = 0; j < 6; j++) {
            int sector_length = (int)(total_points / 6);
            int sector_start = sector_length * j;
            int sector_end = sector_length * (j + 1) - 1;
            if (j == 5) {
                sector_end = total_points - 1;
            }

            std::vector<IdAndValue> sub_cloud_curvature(cloud_curvature.begin() + sector_start,
                                                        cloud_curvature.begin() + sector_end);

            ExtractFromSector(scans_in_each_line[i], sub_cloud_curvature, pc_out_edge, pc_out_surf);
        }
    }
}

void FeatureExtraction::ExtractFromSector(const CloudPtr &pc_in, std::vector<IdAndValue> &cloud_curvature,
                                          CloudPtr &pc_out_edge, CloudPtr &pc_out_surf) {
    // 按曲率排序
    std::sort(cloud_curvature.begin(), cloud_curvature.end(),
              [](const IdAndValue &a, const IdAndValue &b) { return a.value_ < b.value_; });

    int largest_picked_num = 0;
    int point_info_count = 0;

    /// 按照曲率最大的开始搜，选取曲率最大的角点
    std::vector<int> picked_points;  // 标记被选中的角点，角点附近的点都不会被选取
    for (int i = cloud_curvature.size() - 1; i >= 0; i--) {
        int ind = cloud_curvature[i].id_;
        if (std::find(picked_points.begin(), picked_points.end(), ind) == picked_points.end()) {
            if (cloud_curvature[i].value_ <= 0.1) {
                break;
            }

            largest_picked_num++;
            picked_points.push_back(ind);

            if (largest_picked_num <= 20) {
                pc_out_edge->push_back(pc_in->points[ind]);
                point_info_count++;
            } else {
                break;
            }

            for (int k = 1; k <= 5; k++) {
                double diffX = pc_in->points[ind + k].x - pc_in->points[ind + k - 1].x;
                double diffY = pc_in->points[ind + k].y - pc_in->points[ind + k - 1].y;
                double diffZ = pc_in->points[ind + k].z - pc_in->points[ind + k - 1].z;
                if (diffX * diffX + diffY * diffY + diffZ * diffZ > 0.05) {
                    break;
                }
                picked_points.push_back(ind + k);
            }
            for (int k = -1; k >= -5; k--) {
                double diffX = pc_in->points[ind + k].x - pc_in->points[ind + k + 1].x;
                double diffY = pc_in->points[ind + k].y - pc_in->points[ind + k + 1].y;
                double diffZ = pc_in->points[ind + k].z - pc_in->points[ind + k + 1].z;
                if (diffX * diffX + diffY * diffY + diffZ * diffZ > 0.05) {
                    break;
                }
                picked_points.push_back(ind + k);
            }
        }
    }

    /// 选取曲率较小的平面点
    for (int i = 0; i <= (int)cloud_curvature.size() - 1; i++) {
        int ind = cloud_curvature[i].id_;
        if (std::find(picked_points.begin(), picked_points.end(), ind) == picked_points.end()) {
            pc_out_surf->push_back(pc_in->points[ind]);
        }
    }
}

特征法激光雷达里程计的实现

分别为角点、平面点构建2个局部地图，使用ICP进行配准。

src/ch7/loam-like/loam_like_odom.h

class LoamLikeOdom {
   public:
    struct Options {
        Options() {}

        int min_edge_pts_ = 20;               // 最小边缘点数
        int min_surf_pts_ = 20;               // 最小平面点数
        double kf_distance_ = 1.0;            // 关键帧距离
        double kf_angle_deg_ = 15;            // 旋转角度
        int num_kfs_in_local_map_ = 30;       // 局部地图含有多少个关键帧
        bool display_realtime_cloud_ = true;  // 是否显示实时点云

        // ICP 参数
        int max_iteration_ = 5;             // 最大迭代次数
        double max_plane_distance_ = 0.05;  // 平面最近邻查找时阈值
        double max_line_distance_ = 0.5;    // 点线最近邻查找时阈值
        int min_effective_pts_ = 10;        // 最近邻点数阈值
        double eps_ = 1e-3;                 // 收敛判定条件

        bool use_edge_points_ = true;  // 是否使用边缘点
        bool use_surf_points_ = true;  // 是否使用平面点
    };

    explicit LoamLikeOdom(Options options = Options());

    /**
     * 往里程计中添加一个点云，内部会分为角点和平面点
     * @param full_cloud
     */
    void ProcessPointCloud(FullCloudPtr full_cloud);

    void SaveMap(const std::string& path);

   private:
    /// 与局部地图进行配准
    SE3 AlignWithLocalMap(CloudPtr edge, CloudPtr surf);

    /// 判定是否为关键帧
    bool IsKeyframe(const SE3& current_pose);

    Options options_;

    int cnt_frame_ = 0;
    int last_kf_id_ = 0;

    CloudPtr local_map_edge_ = nullptr, local_map_surf_ = nullptr;  // 局部地图的local map
    std::vector<SE3> estimated_poses_;    // 所有估计出来的pose，用于记录轨迹和预测下一个帧
    SE3 last_kf_pose_;                    // 上一关键帧的位姿
    std::deque<CloudPtr> edges_, surfs_;  // 缓存的角点和平面点

    CloudPtr global_map_ = nullptr;  // 用于保存的全局地图

    std::shared_ptr<FeatureExtraction> feature_extraction_ = nullptr;

    std::shared_ptr<PCLMapViewer> viewer_ = nullptr;
    KdTree kdtree_edge_, kdtree_surf_;
};

构建局部地图

src/ch7/loam-like/loam_like_odom.cc

void LoamLikeOdom::ProcessPointCloud(FullCloudPtr cloud) {
    LOG(INFO) << "processing frame " << cnt_frame_++;
    // step 1. 提特征
    CloudPtr current_edge(new PointCloudType), current_surf(new PointCloudType);
    feature_extraction_->Extract(cloud, current_edge, current_surf);

    if (current_edge->size() < options_.min_edge_pts_ || current_surf->size() < options_.min_surf_pts_) {
        LOG(ERROR) << "not enough edge/surf pts: " << current_edge->size() << "," << current_surf->size();
        return;
    }

    LOG(INFO) << "edge: " << current_edge->size() << ", surf: " << current_surf->size();

    if (local_map_edge_ == nullptr || local_map_surf_ == nullptr) {
        // 首帧特殊处理
        local_map_edge_ = current_edge;
        local_map_surf_ = current_surf;

        kdtree_edge_.BuildTree(local_map_edge_);
        kdtree_surf_.BuildTree(local_map_surf_);

        edges_.emplace_back(current_edge);
        surfs_.emplace_back(current_surf);
        return;
    }

    /// 与局部地图配准
    SE3 pose = AlignWithLocalMap(current_edge, current_surf);
    CloudPtr scan_world(new PointCloudType);
    pcl::transformPointCloud(*ConvertToCloud<FullPointType>(cloud), *scan_world, pose.matrix());

    CloudPtr edge_world(new PointCloudType), surf_world(new PointCloudType);
    pcl::transformPointCloud(*current_edge, *edge_world, pose.matrix());
    pcl::transformPointCloud(*current_surf, *surf_world, pose.matrix());

    if (IsKeyframe(pose)) {
        LOG(INFO) << "inserting keyframe";
        last_kf_pose_ = pose;
        last_kf_id_ = cnt_frame_;

        // 重建local map
        edges_.emplace_back(edge_world);
        surfs_.emplace_back(surf_world);

        if (edges_.size() > options_.num_kfs_in_local_map_) {
            edges_.pop_front();
        }
        if (surfs_.size() > options_.num_kfs_in_local_map_) {
            surfs_.pop_front();
        }

        local_map_surf_.reset(new PointCloudType);
        local_map_edge_.reset(new PointCloudType);

        for (auto& s : edges_) {
            *local_map_edge_ += *s;
        }
        for (auto& s : surfs_) {
            *local_map_surf_ += *s;
        }

        local_map_surf_ = VoxelCloud(local_map_surf_, 1.0);
        local_map_edge_ = VoxelCloud(local_map_edge_, 1.0);

        LOG(INFO) << "insert keyframe, surf pts: " << local_map_surf_->size()
                  << ", edge pts: " << local_map_edge_->size();

        kdtree_surf_.BuildTree(local_map_surf_);
        kdtree_edge_.BuildTree(local_map_edge_);

        *global_map_ += *scan_world;
    }

    LOG(INFO) << "current pose: " << pose.translation().transpose() << ", "
              << pose.so3().unit_quaternion().coeffs().transpose();

    if (viewer_ != nullptr) {
        viewer_->SetPoseAndCloud(pose, scan_world);
    }
}

bool LoamLikeOdom::IsKeyframe(const SE3& current_pose) {
    if ((cnt_frame_ - last_kf_id_) > 30) {
        return true;
    }

    // 只要与上一帧相对运动超过一定距离或角度，就记关键帧
    SE3 delta = last_kf_pose_.inverse() * current_pose;
    return delta.translation().norm() > options_.kf_distance_ ||
           delta.so3().log().norm() > options_.kf_angle_deg_ * math::kDEG2RAD;
}

配准

SE3 LoamLikeOdom::AlignWithLocalMap(CloudPtr edge, CloudPtr surf) {
    // 这部分的ICP需要自己写
    SE3 pose;
    if (estimated_poses_.size() >= 2) {
        // 从最近两个pose来推断
        SE3 T1 = estimated_poses_[estimated_poses_.size() - 1];
        SE3 T2 = estimated_poses_[estimated_poses_.size() - 2];
        pose = T1 * (T2.inverse() * T1);
    }

    int edge_size = edge->size();
    int surf_size = surf->size();

    // 我们来写一些并发代码
    for (int iter = 0; iter < options_.max_iteration_; ++iter) {
        std::vector<bool> effect_surf(surf_size, false);
        std::vector<Eigen::Matrix<double, 1, 6>> jacob_surf(surf_size);  // 点面的残差是1维的
        std::vector<double> errors_surf(surf_size);

        std::vector<bool> effect_edge(edge_size, false);
        std::vector<Eigen::Matrix<double, 3, 6>> jacob_edge(edge_size);  // 点线的残差是3维的
        std::vector<Vec3d> errors_edge(edge_size);

        std::vector<int> index_surf(surf_size);
        std::iota(index_surf.begin(), index_surf.end(), 0);  // 填入
        std::vector<int> index_edge(edge_size);
        std::iota(index_edge.begin(), index_edge.end(), 0);  // 填入

        // gauss-newton 迭代
        // 最近邻，角点部分
        if (options_.use_edge_points_) {
            std::for_each(std::execution::par_unseq, index_edge.begin(), index_edge.end(), [&](int idx) {
                Vec3d q = ToVec3d(edge->points[idx]);
                Vec3d qs = pose * q;

                // 检查最近邻
                std::vector<int> nn_indices;

                kdtree_edge_.GetClosestPoint(ToPointType(qs), nn_indices, 5);
                effect_edge[idx] = false;

                if (nn_indices.size() >= 3) {
                    std::vector<Vec3d> nn_eigen;
                    for (auto& n : nn_indices) {
                        nn_eigen.emplace_back(ToVec3d(local_map_edge_->points[n]));
                    }

                    // point to point residual
                    Vec3d d, p0;
                    if (!math::FitLine(nn_eigen, p0, d, options_.max_line_distance_)) {
                        return;
                    }

                    Vec3d err = SO3::hat(d) * (qs - p0);
                    if (err.norm() > options_.max_line_distance_) {
                        return;
                    }

                    effect_edge[idx] = true;

                    // build residual
                    Eigen::Matrix<double, 3, 6> J;
                    J.block<3, 3>(0, 0) = -SO3::hat(d) * pose.so3().matrix() * SO3::hat(q);
                    J.block<3, 3>(0, 3) = SO3::hat(d);

                    jacob_edge[idx] = J;
                    errors_edge[idx] = err;
                }
            });
        }

        /// 最近邻，平面点部分
        if (options_.use_surf_points_) {
            std::for_each(std::execution::par_unseq, index_surf.begin(), index_surf.end(), [&](int idx) {
                Vec3d q = ToVec3d(surf->points[idx]);
                Vec3d qs = pose * q;

                // 检查最近邻
                std::vector<int> nn_indices;

                kdtree_surf_.GetClosestPoint(ToPointType(qs), nn_indices, 5);
                effect_surf[idx] = false;

                if (nn_indices.size() == 5) {
                    std::vector<Vec3d> nn_eigen;
                    for (auto& n : nn_indices) {
                        nn_eigen.emplace_back(ToVec3d(local_map_surf_->points[n]));
                    }

                    // 点面残差
                    Vec4d n;
                    if (!math::FitPlane(nn_eigen, n)) {
                        return;
                    }

                    double dis = n.head<3>().dot(qs) + n[3];
                    if (fabs(dis) > options_.max_plane_distance_) {
                        return;
                    }

                    effect_surf[idx] = true;

                    // build residual
                    Eigen::Matrix<double, 1, 6> J;
                    J.block<1, 3>(0, 0) = -n.head<3>().transpose() * pose.so3().matrix() * SO3::hat(q);
                    J.block<1, 3>(0, 3) = n.head<3>().transpose();

                    jacob_surf[idx] = J;
                    errors_surf[idx] = dis;
                }
            });
        }

        // 累加Hessian和error,计算dx
        // 原则上可以用reduce并发，写起来比较麻烦，这里写成accumulate
        double total_res = 0;
        int effective_num = 0;

        Mat6d H = Mat6d::Zero();
        Vec6d err = Vec6d::Zero();

        for (const auto& idx : index_surf) {
            if (effect_surf[idx]) {
                H += jacob_surf[idx].transpose() * jacob_surf[idx];
                err += -jacob_surf[idx].transpose() * errors_surf[idx];
                effective_num++;
                total_res += errors_surf[idx] * errors_surf[idx];
            }
        }

        for (const auto& idx : index_edge) {
            if (effect_edge[idx]) {
                H += jacob_edge[idx].transpose() * jacob_edge[idx];
                err += -jacob_edge[idx].transpose() * errors_edge[idx];
                effective_num++;
                total_res += errors_edge[idx].norm();
            }
        }

        if (effective_num < options_.min_effective_pts_) {
            LOG(WARNING) << "effective num too small: " << effective_num;
            return pose;
        }

        Vec6d dx = H.inverse() * err;
        pose.so3() = pose.so3() * SO3::exp(dx.head<3>());
        pose.translation() += dx.tail<3>();

        // 更新
        LOG(INFO) << "iter " << iter << " total res: " << total_res << ", eff: " << effective_num
                  << ", mean res: " << total_res / effective_num << ", dxn: " << dx.norm();

        if (dx.norm() < options_.eps_) {
            LOG(INFO) << "converged, dx = " << dx.transpose();
            break;
        }
    }

    estimated_poses_.emplace_back(pose);
    return pose;
}

参考资料：
1、书籍：《自动驾驶与机器人中的SLAM技术：从理论到实践》
2、代码：https://github.com/gaoxiang12/slam_in_autonomous_driving/tree/master/src/ch7

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