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laser_mapping.cc
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#include <tf/transform_broadcaster.h>
#include <yaml-cpp/yaml.h>
#include <execution>
#include <fstream>
#include "laser_mapping.h"
#include "use-ikfom.hpp"
#include "utils.h"
namespace faster_lio {
bool LaserMapping::InitROS(ros::NodeHandle &nh) {
LoadParams(nh);
SubAndPubToROS(nh);
// localmap init (after LoadParams)
ivox_ = std::make_shared<IVoxType>(ivox_options_);
// esekf init
std::vector<double> epsi(23, 0.001);
if (is_extract_large_planes_) {
kf_.init_dyn_share(
get_f, df_dx, df_dw,
[this](state_ikfom &s, esekfom::dyn_share_datastruct<double> &ekfom_data) { ObsModelOurs(s, ekfom_data); },
options::NUM_MAX_ITERATIONS, epsi.data());
} else {
kf_.init_dyn_share(
get_f, df_dx, df_dw,
[this](state_ikfom &s, esekfom::dyn_share_datastruct<double> &ekfom_data) { ObsModel(s, ekfom_data); },
options::NUM_MAX_ITERATIONS, epsi.data());
}
plane_tracker_.SetIncrementalFitting(is_incremental_fitting_);
plane_tracker_.SetPlaneLeastInliers(plane_least_inliers_);
return true;
}
bool LaserMapping::InitWithoutROS(const std::string &config_yaml) {
LOG(INFO) << "init laser mapping from " << config_yaml;
if (!LoadParamsFromYAML(config_yaml)) {
return false;
}
// localmap init (after LoadParams)
ivox_ = std::make_shared<IVoxType>(ivox_options_);
// esekf init
std::vector<double> epsi(23, 0.001);
if (is_extract_large_planes_) {
kf_.init_dyn_share(
get_f, df_dx, df_dw,
[this](state_ikfom &s, esekfom::dyn_share_datastruct<double> &ekfom_data) { ObsModelOurs(s, ekfom_data); },
options::NUM_MAX_ITERATIONS, epsi.data());
} else {
kf_.init_dyn_share(
get_f, df_dx, df_dw,
[this](state_ikfom &s, esekfom::dyn_share_datastruct<double> &ekfom_data) { ObsModel(s, ekfom_data); },
options::NUM_MAX_ITERATIONS, epsi.data());
}
if (std::is_same<IVoxType, IVox<3, IVoxNodeType::PHC, pcl::PointXYZI>>()) {
LOG(INFO) << "using phc ivox";
} else if (std::is_same<IVoxType, IVox<3, IVoxNodeType::DEFAULT, pcl::PointXYZI>>()) {
LOG(INFO) << "using default ivox";
}
plane_tracker_.SetIncrementalFitting(is_incremental_fitting_);
plane_tracker_.SetPlaneLeastInliers(plane_least_inliers_);
return true;
}
bool LaserMapping::LoadParams(ros::NodeHandle &nh) {
// get params from param server
int lidar_type, ivox_nearby_type;
double gyr_cov, acc_cov, b_gyr_cov, b_acc_cov;
double filter_size_surf_min;
common::V3D lidar_T_wrt_IMU;
common::M3D lidar_R_wrt_IMU;
nh.param<bool>("path_save_en", path_save_en_, true);
nh.param<bool>("publish/path_publish_en", path_pub_en_, true);
nh.param<bool>("publish/scan_publish_en", scan_pub_en_, true);
nh.param<bool>("publish/dense_publish_en", dense_pub_en_, false);
nh.param<bool>("publish/scan_bodyframe_pub_en", scan_body_pub_en_, true);
nh.param<bool>("publish/scan_effect_pub_en", scan_effect_pub_en_, false);
nh.param<bool>("is_extract_large_planes", is_extract_large_planes_, false);
nh.param<int>("plane_least_inliers", plane_least_inliers_, -1);
nh.param<float>("point_to_plane_thresh", point_to_plane_thresh_, 0.2f);
nh.param<bool>("is_incremental_fitting", is_incremental_fitting_, false);
nh.param<int>("max_iteration", options::NUM_MAX_ITERATIONS, 4);
nh.param<float>("esti_plane_threshold", options::ESTI_PLANE_THRESHOLD, 0.1);
nh.param<std::string>("map_file_path", map_file_path_, "");
nh.param<bool>("common/time_sync_en", time_sync_en_, false);
nh.param<double>("filter_size_surf", filter_size_surf_min, 0.5);
nh.param<double>("filter_size_map", filter_size_map_min_, 0.0);
nh.param<double>("cube_side_length", cube_len_, 200);
nh.param<float>("mapping/det_range", det_range_, 300.f);
nh.param<double>("mapping/gyr_cov", gyr_cov, 0.1);
nh.param<double>("mapping/acc_cov", acc_cov, 0.1);
nh.param<double>("mapping/b_gyr_cov", b_gyr_cov, 0.0001);
nh.param<double>("mapping/b_acc_cov", b_acc_cov, 0.0001);
nh.param<double>("preprocess/blind", preprocess_->Blind(), 0.01);
nh.param<float>("preprocess/time_scale", preprocess_->TimeScale(), 1e-3);
nh.param<int>("preprocess/lidar_type", lidar_type, 1);
nh.param<int>("preprocess/scan_line", preprocess_->NumScans(), 16);
nh.param<int>("point_filter_num", preprocess_->PointFilterNum(), 2);
nh.param<bool>("feature_extract_enable", preprocess_->FeatureEnabled(), false);
nh.param<bool>("runtime_pos_log_enable", runtime_pos_log_, true);
nh.param<bool>("mapping/extrinsic_est_en", extrinsic_est_en_, true);
nh.param<bool>("pcd_save/pcd_save_en", pcd_save_en_, false);
nh.param<int>("pcd_save/interval", pcd_save_interval_, -1);
nh.param<std::vector<double>>("mapping/extrinsic_T", extrinT_, std::vector<double>());
nh.param<std::vector<double>>("mapping/extrinsic_R", extrinR_, std::vector<double>());
nh.param<float>("ivox_grid_resolution", ivox_options_.resolution_, 0.2);
nh.param<int>("ivox_nearby_type", ivox_nearby_type, 18);
LOG(INFO) << "lidar_type " << lidar_type;
if (lidar_type == 1) {
preprocess_->SetLidarType(LidarType::AVIA);
LOG(INFO) << "Using AVIA Lidar";
} else if (lidar_type == 2) {
preprocess_->SetLidarType(LidarType::VELO32);
LOG(INFO) << "Using Velodyne 32 Lidar";
} else if (lidar_type == 3) {
preprocess_->SetLidarType(LidarType::OUST64);
LOG(INFO) << "Using OUST 64 Lidar";
} else {
LOG(WARNING) << "unknown lidar_type";
return false;
}
if (ivox_nearby_type == 0) {
ivox_options_.nearby_type_ = IVoxType::NearbyType::CENTER;
} else if (ivox_nearby_type == 6) {
ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY6;
} else if (ivox_nearby_type == 18) {
ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY18;
} else if (ivox_nearby_type == 26) {
ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY26;
} else {
LOG(WARNING) << "unknown ivox_nearby_type, use NEARBY18";
ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY18;
}
path_.header.stamp = ros::Time::now();
path_.header.frame_id = "camera_init";
voxel_scan_.setLeafSize(filter_size_surf_min, filter_size_surf_min, filter_size_surf_min);
lidar_T_wrt_IMU = common::VecFromArray<double>(extrinT_);
lidar_R_wrt_IMU = common::MatFromArray<double>(extrinR_);
p_imu_->SetExtrinsic(lidar_T_wrt_IMU, lidar_R_wrt_IMU);
p_imu_->SetGyrCov(common::V3D(gyr_cov, gyr_cov, gyr_cov));
p_imu_->SetAccCov(common::V3D(acc_cov, acc_cov, acc_cov));
p_imu_->SetGyrBiasCov(common::V3D(b_gyr_cov, b_gyr_cov, b_gyr_cov));
p_imu_->SetAccBiasCov(common::V3D(b_acc_cov, b_acc_cov, b_acc_cov));
return true;
}
bool LaserMapping::LoadParamsFromYAML(const std::string &yaml_file) {
// get params from yaml
int lidar_type, ivox_nearby_type;
double gyr_cov, acc_cov, b_gyr_cov, b_acc_cov;
double filter_size_surf_min;
common::V3D lidar_T_wrt_IMU;
common::M3D lidar_R_wrt_IMU;
auto yaml = YAML::LoadFile(yaml_file);
try {
path_pub_en_ = yaml["publish"]["path_publish_en"].as<bool>();
scan_pub_en_ = yaml["publish"]["scan_publish_en"].as<bool>();
dense_pub_en_ = yaml["publish"]["dense_publish_en"].as<bool>();
scan_body_pub_en_ = yaml["publish"]["scan_bodyframe_pub_en"].as<bool>();
scan_effect_pub_en_ = yaml["publish"]["scan_effect_pub_en"].as<bool>();
path_save_en_ = yaml["path_save_en"].as<bool>();
is_extract_large_planes_ = yaml["is_extract_large_planes"].as<bool>();
plane_least_inliers_ = yaml["plane_least_inliers"].as<int>();
point_to_plane_thresh_ = yaml["point_to_plane_thresh"].as<float>();
is_incremental_fitting_ = yaml["is_incremental_fitting"].as<bool>();
options::NUM_MAX_ITERATIONS = yaml["max_iteration"].as<int>();
options::ESTI_PLANE_THRESHOLD = yaml["esti_plane_threshold"].as<float>();
time_sync_en_ = yaml["common"]["time_sync_en"].as<bool>();
filter_size_surf_min = yaml["filter_size_surf"].as<float>();
filter_size_map_min_ = yaml["filter_size_map"].as<float>();
cube_len_ = yaml["cube_side_length"].as<int>();
det_range_ = yaml["mapping"]["det_range"].as<float>();
gyr_cov = yaml["mapping"]["gyr_cov"].as<float>();
acc_cov = yaml["mapping"]["acc_cov"].as<float>();
b_gyr_cov = yaml["mapping"]["b_gyr_cov"].as<float>();
b_acc_cov = yaml["mapping"]["b_acc_cov"].as<float>();
preprocess_->Blind() = yaml["preprocess"]["blind"].as<double>();
preprocess_->TimeScale() = yaml["preprocess"]["time_scale"].as<double>();
lidar_type = yaml["preprocess"]["lidar_type"].as<int>();
preprocess_->NumScans() = yaml["preprocess"]["scan_line"].as<int>();
preprocess_->PointFilterNum() = yaml["point_filter_num"].as<int>();
preprocess_->FeatureEnabled() = yaml["feature_extract_enable"].as<bool>();
extrinsic_est_en_ = yaml["mapping"]["extrinsic_est_en"].as<bool>();
pcd_save_en_ = yaml["pcd_save"]["pcd_save_en"].as<bool>();
pcd_save_interval_ = yaml["pcd_save"]["interval"].as<int>();
extrinT_ = yaml["mapping"]["extrinsic_T"].as<std::vector<double>>();
extrinR_ = yaml["mapping"]["extrinsic_R"].as<std::vector<double>>();
ivox_options_.resolution_ = yaml["ivox_grid_resolution"].as<float>();
ivox_nearby_type = yaml["ivox_nearby_type"].as<int>();
} catch (...) {
LOG(ERROR) << "bad conversion";
return false;
}
LOG(INFO) << "lidar_type " << lidar_type;
if (lidar_type == 1) {
preprocess_->SetLidarType(LidarType::AVIA);
LOG(INFO) << "Using AVIA Lidar";
} else if (lidar_type == 2) {
preprocess_->SetLidarType(LidarType::VELO32);
LOG(INFO) << "Using Velodyne 32 Lidar";
} else if (lidar_type == 3) {
preprocess_->SetLidarType(LidarType::OUST64);
LOG(INFO) << "Using OUST 64 Lidar";
} else {
LOG(WARNING) << "unknown lidar_type";
return false;
}
if (ivox_nearby_type == 0) {
ivox_options_.nearby_type_ = IVoxType::NearbyType::CENTER;
} else if (ivox_nearby_type == 6) {
ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY6;
} else if (ivox_nearby_type == 18) {
ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY18;
} else if (ivox_nearby_type == 26) {
ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY26;
} else {
LOG(WARNING) << "unknown ivox_nearby_type, use NEARBY18";
ivox_options_.nearby_type_ = IVoxType::NearbyType::NEARBY18;
}
voxel_scan_.setLeafSize(filter_size_surf_min, filter_size_surf_min, filter_size_surf_min);
lidar_T_wrt_IMU = common::VecFromArray<double>(extrinT_);
lidar_R_wrt_IMU = common::MatFromArray<double>(extrinR_);
p_imu_->SetExtrinsic(lidar_T_wrt_IMU, lidar_R_wrt_IMU);
p_imu_->SetGyrCov(common::V3D(gyr_cov, gyr_cov, gyr_cov));
p_imu_->SetAccCov(common::V3D(acc_cov, acc_cov, acc_cov));
p_imu_->SetGyrBiasCov(common::V3D(b_gyr_cov, b_gyr_cov, b_gyr_cov));
p_imu_->SetAccBiasCov(common::V3D(b_acc_cov, b_acc_cov, b_acc_cov));
run_in_offline_ = true;
return true;
}
void LaserMapping::SubAndPubToROS(ros::NodeHandle &nh) {
// ROS subscribe initialization
std::string lidar_topic, imu_topic;
nh.param<std::string>("common/lid_topic", lidar_topic, "/livox/lidar");
nh.param<std::string>("common/imu_topic", imu_topic, "/livox/imu");
if (preprocess_->GetLidarType() == LidarType::AVIA) {
sub_pcl_ = nh.subscribe<livox_ros_driver::CustomMsg>(
lidar_topic, 200000, [this](const livox_ros_driver::CustomMsg::ConstPtr &msg) { LivoxPCLCallBack(msg); });
} else {
sub_pcl_ = nh.subscribe<sensor_msgs::PointCloud2>(
lidar_topic, 200000, [this](const sensor_msgs::PointCloud2::ConstPtr &msg) { StandardPCLCallBack(msg); });
}
sub_imu_ = nh.subscribe<sensor_msgs::Imu>(imu_topic, 200000,
[this](const sensor_msgs::Imu::ConstPtr &msg) { IMUCallBack(msg); });
// ROS publisher init
path_.header.stamp = ros::Time::now();
path_.header.frame_id = "camera_init";
pub_laser_cloud_world_ = nh.advertise<sensor_msgs::PointCloud2>("/cloud_registered", 100000);
pub_laser_cloud_body_ = nh.advertise<sensor_msgs::PointCloud2>("/cloud_registered_body", 100000);
pub_laser_cloud_effect_world_ = nh.advertise<sensor_msgs::PointCloud2>("/cloud_registered_effect_world", 100000);
pub_odom_aft_mapped_ = nh.advertise<nav_msgs::Odometry>("/Odometry", 100000);
pub_path_ = nh.advertise<nav_msgs::Path>("/path", 100000);
}
LaserMapping::LaserMapping() {
preprocess_.reset(new PointCloudPreprocess());
p_imu_.reset(new ImuProcess());
}
void LaserMapping::Run() {
if (!SyncPackages()) {
return;
}
/// IMU process, kf prediction, undistortion
p_imu_->Process(measures_, kf_, scan_undistort_);
// FIXME
if (scan_undistort_->empty() || (scan_undistort_ == nullptr)) {
LOG(WARNING) << "No point, skip this scan!";
return;
}
/// the first scan
if (flg_first_scan_) {
ivox_->AddPoints(scan_undistort_->points);
first_lidar_time_ = measures_.lidar_bag_time_;
flg_first_scan_ = false;
return;
}
flg_EKF_inited_ = (measures_.lidar_bag_time_ - first_lidar_time_) >= options::INIT_TIME;
/// downsample
Timer::Evaluate(
[&, this]() {
voxel_scan_.setInputCloud(scan_undistort_);
voxel_scan_.filter(*scan_down_body_);
},
"Downsample PointCloud");
int cur_pts = scan_down_body_->size();
if (cur_pts < 5) {
LOG(WARNING) << "Too few points, skip this scan!" << scan_undistort_->size() << ", " << scan_down_body_->size();
return;
}
if (is_extract_large_planes_) {
// D_RECORD_TIME_START;
if (is_incremental_fitting_) {
state_ikfom pose_pre_int = kf_.get_x();
Eigen::Quaternionf q_wl = (pose_pre_int.rot * pose_pre_int.offset_R_L_I).cast<float>();
Eigen::Vector3f t_wl = (pose_pre_int.rot * pose_pre_int.offset_T_L_I +
pose_pre_int.pos).cast<float>();
plane_tracker_.ExtractLargePlanes(scan_down_body_, &t_wl, &q_wl);
} else {
plane_tracker_.ExtractLargePlanes(scan_down_body_, (Eigen::Matrix4f *) nullptr);
}
scan_down_body_plane_ = plane_tracker_.CurrCloudPlane();
scan_down_body_other_ = plane_tracker_.CurrCloudOther();
// D_RECORD_TIME_END("ExtractLargePlanes");
}
if (is_extract_large_planes_) {
int n_other = (int) scan_down_body_other_->size();
scan_down_world_other_->resize(n_other);
nearest_points_.resize(n_other);
} else {
// scan_down_world_在MapIncremental()里面写
scan_down_world_->resize(cur_pts);
nearest_points_.resize(cur_pts);
}
residuals_.resize(cur_pts, 0);
point_selected_surf_.resize(cur_pts, false);
plane_coef_.resize(cur_pts, common::V4F::Zero());
// ICP and iterated Kalman filter update
Timer::Evaluate(
[&, this]() {
// iterated state estimation
double solve_H_time = 0;
// update the observation model, will call nn and point-to-plane residual computation
kf_.update_iterated_dyn_share_modified(options::LASER_POINT_COV, solve_H_time);
// save the state
state_point_ = kf_.get_x();
euler_cur_ = SO3ToEuler(state_point_.rot);
// t_wl = t_wb + t_w_bl
// = t_wb + q_wb * t_bl
pos_lidar_ = state_point_.pos + state_point_.rot * state_point_.offset_T_L_I;
},
"IEKF Solve and Update");
// update local map
if (is_extract_large_planes_) {
Timer::Evaluate([&, this]() { MapIncrementalOurs(); }, " Incremental Mapping Ours");
} else {
Timer::Evaluate([&, this]() { MapIncremental(); }, " Incremental Mapping");
}
// publish or save map pcd
if (run_in_offline_) {
if (pcd_save_en_) {
PublishFrameWorld();
}
if (path_save_en_) {
PublishPath(pub_path_);
}
} else {
if (pub_odom_aft_mapped_) {
PublishOdometry(pub_odom_aft_mapped_);
}
if (path_pub_en_ || path_save_en_) {
PublishPath(pub_path_);
}
if (scan_pub_en_ || pcd_save_en_) {
// 把lidar系下的点云(scan_undistort_) 转到imu系下面，再用state_point_.rot从imu转到world
PublishFrameWorld();
}
if (scan_pub_en_ && scan_body_pub_en_) {
// 把lidar系下的点云(scan_undistort_) 转到imu系下面
PublishFrameBody(pub_laser_cloud_body_);
}
if (scan_pub_en_ && scan_effect_pub_en_) {
PublishFrameEffectWorld(pub_laser_cloud_effect_world_);
}
}
// q_wb * q_bl
Eigen::Quaternionf q_wl = (state_point_.rot * state_point_.offset_R_L_I).cast<float>();
Eigen::Vector3f t_wl = (state_point_.rot * state_point_.offset_T_L_I +
state_point_.pos).cast<float>();
plane_tracker_.SetCurrTransWl(t_wl, q_wl);
// Debug variables
frame_num_++;
}
void LaserMapping::StandardPCLCallBack(const sensor_msgs::PointCloud2::ConstPtr &msg) {
mtx_buffer_.lock();
Timer::Evaluate(
[&, this]() {
scan_count_++;
if (msg->header.stamp.toSec() < last_timestamp_lidar_) {
LOG(ERROR) << "lidar loop back, clear buffer";
lidar_buffer_.clear();
}
PointCloudType::Ptr ptr(new PointCloudType());
preprocess_->Process(msg, ptr);
lidar_buffer_.push_back(ptr);
time_buffer_.push_back(msg->header.stamp.toSec());
last_timestamp_lidar_ = msg->header.stamp.toSec();
},
"Preprocess (Standard)");
mtx_buffer_.unlock();
}
void LaserMapping::LivoxPCLCallBack(const livox_ros_driver::CustomMsg::ConstPtr &msg) {
mtx_buffer_.lock();
Timer::Evaluate(
[&, this]() {
scan_count_++;
if (msg->header.stamp.toSec() < last_timestamp_lidar_) {
LOG(WARNING) << "lidar loop back, clear buffer";
lidar_buffer_.clear();
}
last_timestamp_lidar_ = msg->header.stamp.toSec();
if (!time_sync_en_ && abs(last_timestamp_imu_ - last_timestamp_lidar_) > 10.0
&& !imu_buffer_.empty() && !lidar_buffer_.empty()) {
LOG(INFO) << "IMU and LiDAR not Synced, IMU time: " << last_timestamp_imu_
<< ", lidar header time: " << last_timestamp_lidar_;
}
if (time_sync_en_ && !timediff_set_flg_
&& abs(last_timestamp_lidar_ - last_timestamp_imu_) > 1
&& !imu_buffer_.empty()) {
timediff_set_flg_ = true;
timediff_lidar_wrt_imu_ = last_timestamp_lidar_ + 0.1 - last_timestamp_imu_;
LOG(INFO) << "Self sync IMU and LiDAR, time diff is " << timediff_lidar_wrt_imu_;
}
PointCloudType::Ptr ptr(new PointCloudType());
preprocess_->Process(msg, ptr);
lidar_buffer_.emplace_back(ptr);
time_buffer_.emplace_back(last_timestamp_lidar_);
},
"Preprocess (Livox)");
mtx_buffer_.unlock();
}
void LaserMapping::IMUCallBack(const sensor_msgs::Imu::ConstPtr &msg_in) {
publish_count_++;
sensor_msgs::Imu::Ptr msg(new sensor_msgs::Imu(*msg_in));
if (abs(timediff_lidar_wrt_imu_) > 0.1 && time_sync_en_) {
msg->header.stamp = ros::Time().fromSec(timediff_lidar_wrt_imu_ + msg_in->header.stamp.toSec());
}
double timestamp = msg->header.stamp.toSec();
mtx_buffer_.lock();
if (timestamp < last_timestamp_imu_) {
LOG(WARNING) << "imu loop back, clear buffer";
imu_buffer_.clear();
}
last_timestamp_imu_ = timestamp;
imu_buffer_.emplace_back(msg);
mtx_buffer_.unlock();
}
bool LaserMapping::SyncPackages() {
if (lidar_buffer_.empty() || imu_buffer_.empty()) {
return false;
}
/*** push a lidar scan ***/
if (!lidar_pushed_) {
measures_.lidar_ = lidar_buffer_.front();
measures_.lidar_bag_time_ = time_buffer_.front();
if (measures_.lidar_->points.size() <= 1) {
LOG(WARNING) << "Too few input point cloud!";
lidar_end_time_ = measures_.lidar_bag_time_ + lidar_mean_scantime_;
} else if (measures_.lidar_->points.back().curvature / double(1000) < 0.5 * lidar_mean_scantime_) {
lidar_end_time_ = measures_.lidar_bag_time_ + lidar_mean_scantime_;
} else {
scan_num_++;
lidar_end_time_ = measures_.lidar_bag_time_ + measures_.lidar_->points.back().curvature / double(1000);
lidar_mean_scantime_ +=
(measures_.lidar_->points.back().curvature / double(1000) - lidar_mean_scantime_) / scan_num_;
}
measures_.lidar_end_time_ = lidar_end_time_;
lidar_pushed_ = true;
}
if (last_timestamp_imu_ < lidar_end_time_) {
return false;
}
/*** push imu_ data, and pop from imu_ buffer ***/
double imu_time = imu_buffer_.front()->header.stamp.toSec();
measures_.imu_.clear();
while ((!imu_buffer_.empty()) && (imu_time < lidar_end_time_)) {
imu_time = imu_buffer_.front()->header.stamp.toSec();
if (imu_time > lidar_end_time_) break;
measures_.imu_.push_back(imu_buffer_.front());
imu_buffer_.pop_front();
}
lidar_buffer_.pop_front();
time_buffer_.pop_front();
lidar_pushed_ = false;
return true;
}
void LaserMapping::PrintState(const state_ikfom &s) {
LOG(INFO) << "state r: " << s.rot.coeffs().transpose() << ", t: " << s.pos.transpose()
<< ", off r: " << s.offset_R_L_I.coeffs().transpose() << ", t: " << s.offset_T_L_I.transpose();
}
void LaserMapping::MapIncrementalOurs() {
PointVector points_to_add;
PointVector point_no_need_downsample;
int cur_pts = (int) scan_down_body_other_->size(); // only non-skeleton points
points_to_add.reserve(cur_pts);
point_no_need_downsample.reserve(cur_pts);
std::vector<size_t> index(cur_pts);
for (size_t i = 0; i < cur_pts; ++i) {
index[i] = i;
}
std::for_each(std::execution::unseq, index.begin(), index.end(), [&](const size_t &i) {
/* transform to world frame */
PointBodyToWorld(&(scan_down_body_other_->points[i]),
&(scan_down_world_other_->points[i]));
/* decide if need add to map */
PointType &point_world = scan_down_world_other_->points[i];
if (!nearest_points_[i].empty() && flg_EKF_inited_) {
const PointVector &points_near = nearest_points_[i];
Eigen::Vector3f center =
((point_world.getVector3fMap() / filter_size_map_min_).array().floor() + 0.5) * filter_size_map_min_;
Eigen::Vector3f dis_2_center = points_near[0].getVector3fMap() - center;
if (fabs(dis_2_center.x()) > 0.5 * filter_size_map_min_ &&
fabs(dis_2_center.y()) > 0.5 * filter_size_map_min_ &&
fabs(dis_2_center.z()) > 0.5 * filter_size_map_min_) {
point_no_need_downsample.emplace_back(point_world);
return;
}
bool need_add = true;
float dist = common::calc_dist(point_world.getVector3fMap(), center);
if (points_near.size() >= options::NUM_MATCH_POINTS) {
for (int readd_i = 0; readd_i < options::NUM_MATCH_POINTS; readd_i++) {
if (common::calc_dist(points_near[readd_i].getVector3fMap(), center) < dist + 1e-6) {
need_add = false;
break;
}
}
}
if (need_add) {
points_to_add.emplace_back(point_world);
}
} else {
points_to_add.emplace_back(point_world);
}
});
Timer::Evaluate([&, this]() {
ivox_->AddPoints(points_to_add);
ivox_->AddPoints(point_no_need_downsample);
}, " IVox Add Points");
}
void LaserMapping::MapIncremental() {
PointVector points_to_add;
PointVector point_no_need_downsample;
int cur_pts = scan_down_body_->size();
points_to_add.reserve(cur_pts);
point_no_need_downsample.reserve(cur_pts);
std::vector<size_t> index(cur_pts);
for (size_t i = 0; i < cur_pts; ++i) {
index[i] = i;
}
std::for_each(std::execution::unseq, index.begin(), index.end(), [&](const size_t &i) {
/* transform to world frame */
PointBodyToWorld(&(scan_down_body_->points[i]), &(scan_down_world_->points[i]));
/* decide if need add to map */
PointType &point_world = scan_down_world_->points[i];
if (!nearest_points_[i].empty() && flg_EKF_inited_) {
const PointVector &points_near = nearest_points_[i];
Eigen::Vector3f center =
((point_world.getVector3fMap() / filter_size_map_min_).array().floor() + 0.5) * filter_size_map_min_;
Eigen::Vector3f dis_2_center = points_near[0].getVector3fMap() - center;
if (fabs(dis_2_center.x()) > 0.5 * filter_size_map_min_ &&
fabs(dis_2_center.y()) > 0.5 * filter_size_map_min_ &&
fabs(dis_2_center.z()) > 0.5 * filter_size_map_min_) {
point_no_need_downsample.emplace_back(point_world);
return;
}
bool need_add = true;
float dist = common::calc_dist(point_world.getVector3fMap(), center);
if (points_near.size() >= options::NUM_MATCH_POINTS) {
for (int readd_i = 0; readd_i < options::NUM_MATCH_POINTS; readd_i++) {
if (common::calc_dist(points_near[readd_i].getVector3fMap(), center) < dist + 1e-6) {
need_add = false;
break;
}
}
}
if (need_add) {
points_to_add.emplace_back(point_world);
}
} else {
points_to_add.emplace_back(point_world);
}
});
Timer::Evaluate(
[&, this]() {
ivox_->AddPoints(points_to_add);
ivox_->AddPoints(point_no_need_downsample);
},
" IVox Add Points");
}
void LaserMapping::ObsModelOurs(state_ikfom &s, esekfom::dyn_share_datastruct<double> &ekfom_data) {
int plane_n_pts = (int) scan_down_body_plane_->size();
int other_n_pts = (int) scan_down_body_other_->size();
int total_n_pts = plane_n_pts + other_n_pts;
std::vector<size_t> index_all(total_n_pts);
for (size_t i = 0; i < total_n_pts; ++i) {
index_all[i] = i;
}
std::vector<size_t> index_plane(index_all.begin(), index_all.begin() + plane_n_pts);
std::vector<size_t> index_other(index_all.begin(), index_all.begin() + other_n_pts);
Timer::Evaluate([&, this]() {
const int n_planes = plane_tracker_.NumPlanes();
auto &last_planes = plane_tracker_.LastPlanes();
// R_wb * R_bl
auto R_wl = (s.rot * s.offset_R_L_I).cast<float>();
auto t_wl = (s.rot * s.offset_T_L_I + s.pos).cast<float>();
std::for_each(std::execution::par_unseq,
index_plane.begin(), index_plane.end(), [&](const size_t &i) {
PointType &point_body = scan_down_body_plane_->points[i];
PointType point_world;
/* transform to world frame */
common::V3F p_body = point_body.getVector3fMap();
point_world.getVector3fMap() = R_wl * p_body + t_wl;
point_world.intensity = point_body.intensity;
if (ekfom_data.converge) {
float min_dist = std::numeric_limits<float>::max();
for (auto &candidate_plane : last_planes) {
float dist = Point2PlaneDist(point_world, candidate_plane.coef);
if (dist < point_to_plane_thresh_ && dist < min_dist) {
min_dist = dist;
point_selected_surf_[i] = true;
plane_coef_[i] = candidate_plane.coef;
}
}
}
if (point_selected_surf_[i]) {
auto temp = point_world.getVector4fMap();
temp[3] = 1.0;
float pd2 = plane_coef_[i].dot(temp);
bool valid_corr = p_body.norm() > 81 * pd2 * pd2;
if (valid_corr) {
residuals_[i] = pd2;
}
}
});
std::for_each(std::execution::par_unseq,
index_other.begin(), index_other.end(), [&](const size_t &i) {
PointType &point_body = scan_down_body_other_->points[i];
PointType point_world;
/* transform to world frame */
common::V3F p_body = point_body.getVector3fMap();
point_world.getVector3fMap() = R_wl * p_body + t_wl;
point_world.intensity = point_body.intensity;
int idx = i + plane_n_pts;
auto &points_near = nearest_points_[i];
if (ekfom_data.converge) {
/** Find the closest surfaces in the map **/
ivox_->GetClosestPoint(point_world, points_near, options::NUM_MATCH_POINTS);
point_selected_surf_[idx] = points_near.size() >= options::MIN_NUM_MATCH_POINTS;
if (point_selected_surf_[idx]) {
point_selected_surf_[idx] =
common::esti_plane(plane_coef_[idx], points_near, options::ESTI_PLANE_THRESHOLD);
}
}
if (point_selected_surf_[idx]) {
auto temp = point_world.getVector4fMap();
temp[3] = 1.0;
float pd2 = plane_coef_[idx].dot(temp);
bool valid_corr = p_body.norm() > 81 * pd2 * pd2;
if (valid_corr) {
residuals_[idx] = pd2;
// } else {
// point_selected_surf_[idx] = false;
}
}
});
}, " ObsModelOurs (Lidar Match)");
effect_feat_num_ = 0;
corr_pts_.resize(total_n_pts);
corr_norm_.resize(total_n_pts);
for (int i = 0; i < total_n_pts; i++) {
if (point_selected_surf_[i]) {
corr_norm_[effect_feat_num_] = plane_coef_[i];
if (i < plane_n_pts) {
corr_pts_[effect_feat_num_] = scan_down_body_plane_->points[i].getVector4fMap();
} else {
corr_pts_[effect_feat_num_] =
scan_down_body_other_->points[i - plane_n_pts].getVector4fMap();
}
corr_pts_[effect_feat_num_][3] = residuals_[i];
effect_feat_num_++;
}
}
corr_pts_.resize(effect_feat_num_);
corr_norm_.resize(effect_feat_num_);
if (effect_feat_num_ < 1) {
ekfom_data.valid = false;
LOG(WARNING) << "No Effective Points!";
return;
}
Timer::Evaluate(
[&, this]() {
/*** Computation of Measurement Jacobian matrix H and measurements vector ***/
ekfom_data.h_x = Eigen::MatrixXd::Zero(effect_feat_num_, 12); // 23
ekfom_data.h.resize(effect_feat_num_);
index_all.resize(effect_feat_num_);
const common::M3F off_R = s.offset_R_L_I.toRotationMatrix().cast<float>();
const common::V3F off_t = s.offset_T_L_I.cast<float>();
const common::M3F Rt = s.rot.toRotationMatrix().transpose().cast<float>();
std::for_each(std::execution::par_unseq,
index_all.begin(), index_all.end(), [&](const size_t &i) {
common::V3F point_this_be = corr_pts_[i].head<3>();
common::M3F point_be_crossmat = SKEW_SYM_MATRIX(point_this_be);
common::V3F point_this = off_R * point_this_be + off_t;
common::M3F point_crossmat = SKEW_SYM_MATRIX(point_this);
/*** get the normal vector of closest surface/corner ***/
common::V3F norm_vec = corr_norm_[i].head<3>();
/*** calculate the Measurement Jacobian matrix H ***/
common::V3F C(Rt * norm_vec);
common::V3F A(point_crossmat * C);
if (extrinsic_est_en_) {
common::V3F B(point_be_crossmat * off_R.transpose() * C);
ekfom_data.h_x.block<1, 12>(i, 0) << norm_vec[0], norm_vec[1], norm_vec[2], A[0], A[1], A[2], B[0],
B[1], B[2], C[0], C[1], C[2];
} else {
ekfom_data.h_x.block<1, 12>(i, 0) << norm_vec[0], norm_vec[1], norm_vec[2], A[0], A[1], A[2], 0.0,
0.0, 0.0, 0.0, 0.0, 0.0;
}
/*** Measurement: distance to the closest surface/corner ***/
ekfom_data.h(i) = -corr_pts_[i][3];
});
}, " ObsModelOurs (IEKF Build Jacobian)");
}
/**
* Lidar point cloud registration
* will be called by the eskf custom observation model
* compute point-to-plane residual here
* @param s kf state
* @param ekfom_data H matrix
*/
void LaserMapping::ObsModel(state_ikfom &s, esekfom::dyn_share_datastruct<double> &ekfom_data) {
int cnt_pts = scan_down_body_->size();
std::vector<size_t> index(cnt_pts);
for (size_t i = 0; i < index.size(); ++i) {
index[i] = i;
}
Timer::Evaluate(
[&, this]() {
// R_wb * R_bl
auto R_wl = (s.rot * s.offset_R_L_I).cast<float>();
auto t_wl = (s.rot * s.offset_T_L_I + s.pos).cast<float>();
/** closest surface search and residual computation **/
std::for_each(std::execution::par_unseq, index.begin(), index.end(), [&](const size_t &i) {
PointType &point_body = scan_down_body_->points[i];
PointType &point_world = scan_down_world_->points[i];
/* transform to world frame */
common::V3F p_body = point_body.getVector3fMap();
point_world.getVector3fMap() = R_wl * p_body + t_wl;
point_world.intensity = point_body.intensity;
auto &points_near = nearest_points_[i];
if (ekfom_data.converge) {
/** Find the closest surfaces in the map **/
ivox_->GetClosestPoint(point_world, points_near, options::NUM_MATCH_POINTS);
point_selected_surf_[i] = points_near.size() >= options::MIN_NUM_MATCH_POINTS;
if (point_selected_surf_[i]) {
point_selected_surf_[i] =
common::esti_plane(plane_coef_[i], points_near, options::ESTI_PLANE_THRESHOLD);
}
}
if (point_selected_surf_[i]) {
auto temp = point_world.getVector4fMap();
temp[3] = 1.0;
float pd2 = plane_coef_[i].dot(temp);
bool valid_corr = p_body.norm() > 81 * pd2 * pd2;
if (valid_corr) {
point_selected_surf_[i] = true;
residuals_[i] = pd2;
}
}
});
}, " ObsModel (Lidar Match)");
effect_feat_num_ = 0;
corr_pts_.resize(cnt_pts);
corr_norm_.resize(cnt_pts);
for (int i = 0; i < cnt_pts; i++) {
if (point_selected_surf_[i]) {
corr_norm_[effect_feat_num_] = plane_coef_[i];
corr_pts_[effect_feat_num_] = scan_down_body_->points[i].getVector4fMap();
corr_pts_[effect_feat_num_][3] = residuals_[i];
effect_feat_num_++;
}
}
corr_pts_.resize(effect_feat_num_);
corr_norm_.resize(effect_feat_num_);
if (effect_feat_num_ < 1) {
ekfom_data.valid = false;
LOG(WARNING) << "No Effective Points!";
return;
}
Timer::Evaluate(
[&, this]() {
/*** Computation of Measurement Jacobian matrix H and measurements vector ***/
ekfom_data.h_x = Eigen::MatrixXd::Zero(effect_feat_num_, 12); // 23
ekfom_data.h.resize(effect_feat_num_);
index.resize(effect_feat_num_);
const common::M3F off_R = s.offset_R_L_I.toRotationMatrix().cast<float>();
const common::V3F off_t = s.offset_T_L_I.cast<float>();
const common::M3F Rt = s.rot.toRotationMatrix().transpose().cast<float>();
std::for_each(std::execution::par_unseq, index.begin(), index.end(), [&](const size_t &i) {
common::V3F point_this_be = corr_pts_[i].head<3>();
common::M3F point_be_crossmat = SKEW_SYM_MATRIX(point_this_be);
common::V3F point_this = off_R * point_this_be + off_t;
common::M3F point_crossmat = SKEW_SYM_MATRIX(point_this);
/*** get the normal vector of closest surface/corner ***/
common::V3F norm_vec = corr_norm_[i].head<3>();
/*** calculate the Measurement Jacobian matrix H ***/
common::V3F C(Rt * norm_vec);
common::V3F A(point_crossmat * C);
if (extrinsic_est_en_) {
common::V3F B(point_be_crossmat * off_R.transpose() * C);
ekfom_data.h_x.block<1, 12>(i, 0) << norm_vec[0], norm_vec[1], norm_vec[2], A[0], A[1], A[2], B[0],
B[1], B[2], C[0], C[1], C[2];
} else {
ekfom_data.h_x.block<1, 12>(i, 0) << norm_vec[0], norm_vec[1], norm_vec[2], A[0], A[1], A[2], 0.0,
0.0, 0.0, 0.0, 0.0, 0.0;
}
/*** Measurement: distance to the closest surface/corner ***/
ekfom_data.h(i) = -corr_pts_[i][3];
});
},
" ObsModel (IEKF Build Jacobian)");
}
///////////////////////////////////// debug save / show /////////////////////////////////////////////////////
void LaserMapping::PublishPath(const ros::Publisher pub_path) {
SetPosestamp(msg_body_pose_);
msg_body_pose_.header.stamp = ros::Time().fromSec(lidar_end_time_);
msg_body_pose_.header.frame_id = "camera_init";
/*** if path is too large, the rvis will crash ***/
path_.poses.push_back(msg_body_pose_);
if (!run_in_offline_) {
pub_path.publish(path_);
}
}
void LaserMapping::PublishOdometry(const ros::Publisher &pub_odom_aft_mapped) {
odom_aft_mapped_.header.frame_id = "camera_init";
odom_aft_mapped_.child_frame_id = "body";
odom_aft_mapped_.header.stamp = ros::Time().fromSec(lidar_end_time_); // ros::Time().fromSec(lidar_end_time_);
SetPosestamp(odom_aft_mapped_.pose);
pub_odom_aft_mapped.publish(odom_aft_mapped_);
auto P = kf_.get_P();
for (int i = 0; i < 6; i++) {
int k = i < 3 ? i + 3 : i - 3;
odom_aft_mapped_.pose.covariance[i * 6 + 0] = P(k, 3);
odom_aft_mapped_.pose.covariance[i * 6 + 1] = P(k, 4);
odom_aft_mapped_.pose.covariance[i * 6 + 2] = P(k, 5);
odom_aft_mapped_.pose.covariance[i * 6 + 3] = P(k, 0);
odom_aft_mapped_.pose.covariance[i * 6 + 4] = P(k, 1);
odom_aft_mapped_.pose.covariance[i * 6 + 5] = P(k, 2);
}
static tf::TransformBroadcaster br;
tf::Transform transform;
tf::Quaternion q;
transform.setOrigin(tf::Vector3(odom_aft_mapped_.pose.pose.position.x, odom_aft_mapped_.pose.pose.position.y,
odom_aft_mapped_.pose.pose.position.z));
q.setW(odom_aft_mapped_.pose.pose.orientation.w);
q.setX(odom_aft_mapped_.pose.pose.orientation.x);
q.setY(odom_aft_mapped_.pose.pose.orientation.y);
q.setZ(odom_aft_mapped_.pose.pose.orientation.z);
transform.setRotation(q);
br.sendTransform(tf::StampedTransform(transform, odom_aft_mapped_.header.stamp, "camera_init", "body"));
}
void LaserMapping::PublishFrameWorld() {
if (!(run_in_offline_ == false && scan_pub_en_) && !pcd_save_en_) {
return;
}
PointCloudType::Ptr laserCloudWorld;
if (dense_pub_en_) {
PointCloudType::Ptr laserCloudFullRes(scan_undistort_);
int size = laserCloudFullRes->points.size();
laserCloudWorld.reset(new PointCloudType(size, 1));
for (int i = 0; i < size; i++) {
PointBodyToWorld(&laserCloudFullRes->points[i], &laserCloudWorld->points[i]);
}
} else {
if (is_extract_large_planes_) {
laserCloudWorld = scan_down_world_other_;
int n_plane_pts = (int) scan_down_body_plane_->size();
scan_down_world_plane_->resize(n_plane_pts);
std::vector<size_t> index(n_plane_pts);
for (size_t i = 0; i < n_plane_pts; ++i) {
index[i] = i;
}
std::for_each(std::execution::unseq, index.begin(), index.end(), [&](const size_t &i) {
PointBodyToWorld(&(scan_down_body_plane_->points[i]), &(scan_down_world_plane_->points[i]));
});
*laserCloudWorld += *scan_down_world_plane_;
} else {
laserCloudWorld = scan_down_world_;
}