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r3live_lio.cpp
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/*
This code is the implementation of our paper "R3LIVE: A Robust, Real-time, RGB-colored,
LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package".
Author: Jiarong Lin < ziv.lin.ljr@gmail.com >
If you use any code of this repo in your academic research, please cite at least
one of our papers:
[1] Lin, Jiarong, and Fu Zhang. "R3LIVE: A Robust, Real-time, RGB-colored,
LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package."
[2] Xu, Wei, et al. "Fast-lio2: Fast direct lidar-inertial odometry."
[3] Lin, Jiarong, et al. "R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual
tightly-coupled state Estimator and mapping."
[4] Xu, Wei, and Fu Zhang. "Fast-lio: A fast, robust lidar-inertial odometry
package by tightly-coupled iterated kalman filter."
[5] Cai, Yixi, Wei Xu, and Fu Zhang. "ikd-Tree: An Incremental KD Tree for
Robotic Applications."
[6] Lin, Jiarong, and Fu Zhang. "Loam-livox: A fast, robust, high-precision
LiDAR odometry and mapping package for LiDARs of small FoV."
For commercial use, please contact me < ziv.lin.ljr@gmail.com > and
Dr. Fu Zhang < fuzhang@hku.hk >.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
#include "r3live.hpp"
void R3LIVE::imu_cbk( const sensor_msgs::Imu::ConstPtr &msg_in )
{
sensor_msgs::Imu::Ptr msg( new sensor_msgs::Imu( *msg_in ) );
double timestamp = msg->header.stamp.toSec();
g_camera_lidar_queue.imu_in( timestamp );
mtx_buffer.lock();
if ( timestamp < last_timestamp_imu )
{
ROS_ERROR( "imu loop back, clear buffer" );
imu_buffer_lio.clear();
imu_buffer_vio.clear();
flg_reset = true;
}
last_timestamp_imu = timestamp;
if ( g_camera_lidar_queue.m_if_acc_mul_G )
{
msg->linear_acceleration.x *= G_m_s2;
msg->linear_acceleration.y *= G_m_s2;
msg->linear_acceleration.z *= G_m_s2;
}
imu_buffer_lio.push_back( msg );
imu_buffer_vio.push_back( msg );
// std::cout<<"got imu: "<<timestamp<<" imu size "<<imu_buffer_lio.size()<<std::endl;
mtx_buffer.unlock();
sig_buffer.notify_all();
}
void printf_field_name( sensor_msgs::PointCloud2::ConstPtr &msg )
{
cout << "Input pointcloud field names: [" << msg->fields.size() << "]: ";
for ( size_t i = 0; i < msg->fields.size(); i++ )
{
cout << msg->fields[ i ].name << ", ";
}
cout << endl;
}
bool R3LIVE::get_pointcloud_data_from_ros_message( sensor_msgs::PointCloud2::ConstPtr &msg, pcl::PointCloud< pcl::PointXYZINormal > &pcl_pc )
{
// printf("Frame [%d] %.3f ", g_LiDAR_frame_index, msg->header.stamp.toSec() - g_camera_lidar_queue.m_first_imu_time);
pcl::PointCloud< pcl::PointXYZI > res_pc;
scope_color( ANSI_COLOR_YELLOW_BOLD );
// printf_field_name(msg);
if ( msg->fields.size() < 3 )
{
cout << "1. Get pointcloud data from ros messages fail!!!" << endl;
scope_color( ANSI_COLOR_RED_BOLD );
printf_field_name( msg );
return false;
}
else
{
if ( ( msg->fields.size() == 8 ) && ( msg->fields[ 3 ].name == "intensity" ) &&
( msg->fields[ 4 ].name == "normal_x" ) ) // Input message type is pcl::PointXYZINormal
{
pcl::fromROSMsg( *msg, pcl_pc );
return true;
}
else if ( ( msg->fields.size() == 9 ) )
{
pcl::fromROSMsg( *msg, pcl_pc );
return true;
}
else if ( ( msg->fields.size() == 4 ) && ( msg->fields[ 3 ].name == "rgb" ) )
{
double maximum_range = 5;
get_ros_parameter< double >( m_ros_node_handle, "iros_range", maximum_range, 5 );
pcl::PointCloud< pcl::PointXYZRGB > pcl_rgb_pc;
pcl::fromROSMsg( *msg, pcl_rgb_pc );
double lidar_point_time = msg->header.stamp.toSec();
int pt_count = 0;
pcl_pc.resize( pcl_rgb_pc.points.size() );
for ( int i = 0; i < pcl_rgb_pc.size(); i++ )
{
pcl::PointXYZINormal temp_pt;
temp_pt.x = pcl_rgb_pc.points[ i ].x;
temp_pt.y = pcl_rgb_pc.points[ i ].y;
temp_pt.z = pcl_rgb_pc.points[ i ].z;
double frame_dis = sqrt( temp_pt.x * temp_pt.x + temp_pt.y * temp_pt.y + temp_pt.z * temp_pt.z );
if ( frame_dis > maximum_range )
{
continue;
}
temp_pt.intensity = ( pcl_rgb_pc.points[ i ].r + pcl_rgb_pc.points[ i ].g + pcl_rgb_pc.points[ i ].b ) / 3.0;
temp_pt.curvature = 0;
pcl_pc.points[ pt_count ] = temp_pt;
pt_count++;
}
pcl_pc.points.resize( pt_count );
return true;
}
else // TODO, can add by yourself
{
cout << "2. Get pointcloud data from ros messages fail!!! ";
scope_color( ANSI_COLOR_RED_BOLD );
printf_field_name( msg );
return false;
}
}
}
bool R3LIVE::sync_packages( MeasureGroup &meas )
{
if ( lidar_buffer.empty() || imu_buffer_lio.empty() )
{
return false;
}
/*** push lidar frame ***/
if ( !lidar_pushed )
{
meas.lidar.reset( new PointCloudXYZINormal() );
if ( get_pointcloud_data_from_ros_message( lidar_buffer.front(), *( meas.lidar ) ) == false )
{
return false;
}
// pcl::fromROSMsg(*(lidar_buffer.front()), *(meas.lidar));
meas.lidar_beg_time = lidar_buffer.front()->header.stamp.toSec();
lidar_end_time = meas.lidar_beg_time + meas.lidar->points.back().curvature / double( 1000 );
meas.lidar_end_time = lidar_end_time;
// printf("Input LiDAR time = %.3f, %.3f\n", meas.lidar_beg_time, meas.lidar_end_time);
// printf_line_mem_MB;
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_lio.front()->header.stamp.toSec();
meas.imu.clear();
while ( ( !imu_buffer_lio.empty() ) && ( imu_time < lidar_end_time ) )
{
imu_time = imu_buffer_lio.front()->header.stamp.toSec();
if ( imu_time > lidar_end_time + 0.02 )
break;
meas.imu.push_back( imu_buffer_lio.front() );
imu_buffer_lio.pop_front();
}
lidar_buffer.pop_front();
lidar_pushed = false;
// if (meas.imu.empty()) return false;
// std::cout<<"[IMU Sycned]: "<<imu_time<<" "<<lidar_end_time<<std::endl;
return true;
}
// project lidar frame to world
void R3LIVE::pointBodyToWorld( PointType const *const pi, PointType *const po )
{
Eigen::Vector3d p_body( pi->x, pi->y, pi->z );
Eigen::Vector3d p_global( g_lio_state.rot_end * ( p_body + Lidar_offset_to_IMU ) + g_lio_state.pos_end );
po->x = p_global( 0 );
po->y = p_global( 1 );
po->z = p_global( 2 );
po->intensity = pi->intensity;
}
void R3LIVE::RGBpointBodyToWorld( PointType const *const pi, pcl::PointXYZI *const po )
{
Eigen::Vector3d p_body( pi->x, pi->y, pi->z );
Eigen::Vector3d p_global( g_lio_state.rot_end * ( p_body + Lidar_offset_to_IMU ) + g_lio_state.pos_end );
po->x = p_global( 0 );
po->y = p_global( 1 );
po->z = p_global( 2 );
po->intensity = pi->intensity;
float intensity = pi->intensity;
intensity = intensity - std::floor( intensity );
int reflection_map = intensity * 10000;
}
int R3LIVE::get_cube_index( const int &i, const int &j, const int &k )
{
return ( i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k );
}
bool R3LIVE::center_in_FOV( Eigen::Vector3f cube_p )
{
Eigen::Vector3f dis_vec = g_lio_state.pos_end.cast< float >() - cube_p;
float squaredSide1 = dis_vec.transpose() * dis_vec;
if ( squaredSide1 < 0.4 * cube_len * cube_len )
return true;
dis_vec = XAxisPoint_world.cast< float >() - cube_p;
float squaredSide2 = dis_vec.transpose() * dis_vec;
float ang_cos =
fabs( squaredSide1 <= 3 ) ? 1.0 : ( LIDAR_SP_LEN * LIDAR_SP_LEN + squaredSide1 - squaredSide2 ) / ( 2 * LIDAR_SP_LEN * sqrt( squaredSide1 ) );
return ( ( ang_cos > HALF_FOV_COS ) ? true : false );
}
bool R3LIVE::if_corner_in_FOV( Eigen::Vector3f cube_p )
{
Eigen::Vector3f dis_vec = g_lio_state.pos_end.cast< float >() - cube_p;
float squaredSide1 = dis_vec.transpose() * dis_vec;
dis_vec = XAxisPoint_world.cast< float >() - cube_p;
float squaredSide2 = dis_vec.transpose() * dis_vec;
float ang_cos =
fabs( squaredSide1 <= 3 ) ? 1.0 : ( LIDAR_SP_LEN * LIDAR_SP_LEN + squaredSide1 - squaredSide2 ) / ( 2 * LIDAR_SP_LEN * sqrt( squaredSide1 ) );
return ( ( ang_cos > HALF_FOV_COS ) ? true : false );
}
void R3LIVE::lasermap_fov_segment()
{
laserCloudValidNum = 0;
pointBodyToWorld( XAxisPoint_body, XAxisPoint_world );
int centerCubeI = int( ( g_lio_state.pos_end( 0 ) + 0.5 * cube_len ) / cube_len ) + laserCloudCenWidth;
int centerCubeJ = int( ( g_lio_state.pos_end( 1 ) + 0.5 * cube_len ) / cube_len ) + laserCloudCenHeight;
int centerCubeK = int( ( g_lio_state.pos_end( 2 ) + 0.5 * cube_len ) / cube_len ) + laserCloudCenDepth;
if ( g_lio_state.pos_end( 0 ) + 0.5 * cube_len < 0 )
centerCubeI--;
if ( g_lio_state.pos_end( 1 ) + 0.5 * cube_len < 0 )
centerCubeJ--;
if ( g_lio_state.pos_end( 2 ) + 0.5 * cube_len < 0 )
centerCubeK--;
bool last_inFOV_flag = 0;
int cube_index = 0;
cub_needrm.clear();
cub_needad.clear();
T2[ time_log_counter ] = Measures.lidar_beg_time;
double t_begin = omp_get_wtime();
while ( centerCubeI < FOV_RANGE + 1 )
{
for ( int j = 0; j < laserCloudHeight; j++ )
{
for ( int k = 0; k < laserCloudDepth; k++ )
{
int i = laserCloudWidth - 1;
PointCloudXYZINormal::Ptr laserCloudCubeSurfPointer = featsArray[ get_cube_index( i, j, k ) ];
last_inFOV_flag = _last_inFOV[ cube_index ];
for ( ; i >= 1; i-- )
{
featsArray[ get_cube_index( i, j, k ) ] = featsArray[ get_cube_index( i - 1, j, k ) ];
_last_inFOV[ get_cube_index( i, j, k ) ] = _last_inFOV[ get_cube_index( i - 1, j, k ) ];
}
featsArray[ get_cube_index( i, j, k ) ] = laserCloudCubeSurfPointer;
_last_inFOV[ get_cube_index( i, j, k ) ] = last_inFOV_flag;
laserCloudCubeSurfPointer->clear();
}
}
centerCubeI++;
laserCloudCenWidth++;
}
while ( centerCubeI >= laserCloudWidth - ( FOV_RANGE + 1 ) )
{
for ( int j = 0; j < laserCloudHeight; j++ )
{
for ( int k = 0; k < laserCloudDepth; k++ )
{
int i = 0;
PointCloudXYZINormal::Ptr laserCloudCubeSurfPointer = featsArray[ get_cube_index( i, j, k ) ];
last_inFOV_flag = _last_inFOV[ cube_index ];
for ( ; i >= 1; i-- )
{
featsArray[ get_cube_index( i, j, k ) ] = featsArray[ get_cube_index( i + 1, j, k ) ];
_last_inFOV[ get_cube_index( i, j, k ) ] = _last_inFOV[ get_cube_index( i + 1, j, k ) ];
}
featsArray[ get_cube_index( i, j, k ) ] = laserCloudCubeSurfPointer;
_last_inFOV[ get_cube_index( i, j, k ) ] = last_inFOV_flag;
laserCloudCubeSurfPointer->clear();
}
}
centerCubeI--;
laserCloudCenWidth--;
}
while ( centerCubeJ < ( FOV_RANGE + 1 ) )
{
for ( int i = 0; i < laserCloudWidth; i++ )
{
for ( int k = 0; k < laserCloudDepth; k++ )
{
int j = laserCloudHeight - 1;
PointCloudXYZINormal::Ptr laserCloudCubeSurfPointer = featsArray[ get_cube_index( i, j, k ) ];
last_inFOV_flag = _last_inFOV[ cube_index ];
for ( ; i >= 1; i-- )
{
featsArray[ get_cube_index( i, j, k ) ] = featsArray[ get_cube_index( i, j - 1, k ) ];
_last_inFOV[ get_cube_index( i, j, k ) ] = _last_inFOV[ get_cube_index( i, j - 1, k ) ];
}
featsArray[ get_cube_index( i, j, k ) ] = laserCloudCubeSurfPointer;
_last_inFOV[ get_cube_index( i, j, k ) ] = last_inFOV_flag;
laserCloudCubeSurfPointer->clear();
}
}
centerCubeJ++;
laserCloudCenHeight++;
}
while ( centerCubeJ >= laserCloudHeight - ( FOV_RANGE + 1 ) )
{
for ( int i = 0; i < laserCloudWidth; i++ )
{
for ( int k = 0; k < laserCloudDepth; k++ )
{
int j = 0;
PointCloudXYZINormal::Ptr laserCloudCubeSurfPointer = featsArray[ get_cube_index( i, j, k ) ];
last_inFOV_flag = _last_inFOV[ cube_index ];
for ( ; i >= 1; i-- )
{
featsArray[ get_cube_index( i, j, k ) ] = featsArray[ get_cube_index( i, j + 1, k ) ];
_last_inFOV[ get_cube_index( i, j, k ) ] = _last_inFOV[ get_cube_index( i, j + 1, k ) ];
}
featsArray[ get_cube_index( i, j, k ) ] = laserCloudCubeSurfPointer;
_last_inFOV[ get_cube_index( i, j, k ) ] = last_inFOV_flag;
laserCloudCubeSurfPointer->clear();
}
}
centerCubeJ--;
laserCloudCenHeight--;
}
while ( centerCubeK < ( FOV_RANGE + 1 ) )
{
for ( int i = 0; i < laserCloudWidth; i++ )
{
for ( int j = 0; j < laserCloudHeight; j++ )
{
int k = laserCloudDepth - 1;
PointCloudXYZINormal::Ptr laserCloudCubeSurfPointer = featsArray[ get_cube_index( i, j, k ) ];
last_inFOV_flag = _last_inFOV[ cube_index ];
for ( ; i >= 1; i-- )
{
featsArray[ get_cube_index( i, j, k ) ] = featsArray[ get_cube_index( i, j, k - 1 ) ];
_last_inFOV[ get_cube_index( i, j, k ) ] = _last_inFOV[ get_cube_index( i, j, k - 1 ) ];
}
featsArray[ get_cube_index( i, j, k ) ] = laserCloudCubeSurfPointer;
_last_inFOV[ get_cube_index( i, j, k ) ] = last_inFOV_flag;
laserCloudCubeSurfPointer->clear();
}
}
centerCubeK++;
laserCloudCenDepth++;
}
while ( centerCubeK >= laserCloudDepth - ( FOV_RANGE + 1 ) )
{
for ( int i = 0; i < laserCloudWidth; i++ )
{
for ( int j = 0; j < laserCloudHeight; j++ )
{
int k = 0;
PointCloudXYZINormal::Ptr laserCloudCubeSurfPointer = featsArray[ get_cube_index( i, j, k ) ];
last_inFOV_flag = _last_inFOV[ cube_index ];
for ( ; i >= 1; i-- )
{
featsArray[ get_cube_index( i, j, k ) ] = featsArray[ get_cube_index( i, j, k + 1 ) ];
_last_inFOV[ get_cube_index( i, j, k ) ] = _last_inFOV[ get_cube_index( i, j, k + 1 ) ];
}
featsArray[ get_cube_index( i, j, k ) ] = laserCloudCubeSurfPointer;
_last_inFOV[ get_cube_index( i, j, k ) ] = last_inFOV_flag;
laserCloudCubeSurfPointer->clear();
}
}
centerCubeK--;
laserCloudCenDepth--;
}
cube_points_add->clear();
featsFromMap->clear();
memset( now_inFOV, 0, sizeof( now_inFOV ) );
copy_time = omp_get_wtime() - t_begin;
double fov_check_begin = omp_get_wtime();
fov_check_time = omp_get_wtime() - fov_check_begin;
double readd_begin = omp_get_wtime();
#ifdef USE_ikdtree
if ( cub_needrm.size() > 0 )
ikdtree.Delete_Point_Boxes( cub_needrm );
delete_box_time = omp_get_wtime() - readd_begin;
// s_plot4.push_back(omp_get_wtime() - t_begin); t_begin = omp_get_wtime();
if ( cub_needad.size() > 0 )
ikdtree.Add_Point_Boxes( cub_needad );
readd_box_time = omp_get_wtime() - readd_begin - delete_box_time;
// s_plot5.push_back(omp_get_wtime() - t_begin); t_begin = omp_get_wtime();
if ( cube_points_add->points.size() > 0 )
ikdtree.Add_Points( cube_points_add->points, true );
#endif
readd_time = omp_get_wtime() - readd_begin - delete_box_time - readd_box_time;
// s_plot6.push_back(omp_get_wtime() - t_begin);
}
void R3LIVE::feat_points_cbk( const sensor_msgs::PointCloud2::ConstPtr &msg_in )
{
sensor_msgs::PointCloud2::Ptr msg( new sensor_msgs::PointCloud2( *msg_in ) );
msg->header.stamp = ros::Time( msg_in->header.stamp.toSec() - m_lidar_imu_time_delay );
if ( g_camera_lidar_queue.lidar_in( msg_in->header.stamp.toSec() + 0.1 ) == 0 )
{
return;
}
mtx_buffer.lock();
// std::cout<<"got feature"<<std::endl;
if ( msg->header.stamp.toSec() < last_timestamp_lidar )
{
ROS_ERROR( "lidar loop back, clear buffer" );
lidar_buffer.clear();
}
// ROS_INFO("get point cloud at time: %.6f", msg->header.stamp.toSec());
lidar_buffer.push_back( msg );
last_timestamp_lidar = msg->header.stamp.toSec();
mtx_buffer.unlock();
sig_buffer.notify_all();
}
void R3LIVE::wait_render_thread_finish()
{
if ( m_render_thread != nullptr )
{
m_render_thread->get(); // wait render thread to finish.
// m_render_thread = nullptr;
}
}
int R3LIVE::service_LIO_update()
{
nav_msgs::Path path;
path.header.stamp = ros::Time::now();
path.header.frame_id = "/world";
/*** variables definition ***/
Eigen::Matrix< double, DIM_OF_STATES, DIM_OF_STATES > G, H_T_H, I_STATE;
G.setZero();
H_T_H.setZero();
I_STATE.setIdentity();
cv::Mat matA1( 3, 3, CV_32F, cv::Scalar::all( 0 ) );
cv::Mat matD1( 1, 3, CV_32F, cv::Scalar::all( 0 ) );
cv::Mat matV1( 3, 3, CV_32F, cv::Scalar::all( 0 ) );
cv::Mat matP( 6, 6, CV_32F, cv::Scalar::all( 0 ) );
PointCloudXYZINormal::Ptr feats_undistort( new PointCloudXYZINormal() );
PointCloudXYZINormal::Ptr feats_down( new PointCloudXYZINormal() );
PointCloudXYZINormal::Ptr laserCloudOri( new PointCloudXYZINormal() );
PointCloudXYZINormal::Ptr coeffSel( new PointCloudXYZINormal() );
/*** variables initialize ***/
FOV_DEG = fov_deg + 10;
HALF_FOV_COS = std::cos( ( fov_deg + 10.0 ) * 0.5 * PI_M / 180.0 );
for ( int i = 0; i < laserCloudNum; i++ )
{
featsArray[ i ].reset( new PointCloudXYZINormal() );
}
std::shared_ptr< ImuProcess > p_imu( new ImuProcess() );
m_imu_process = p_imu;
//------------------------------------------------------------------------------------------------------
ros::Rate rate( 5000 );
bool status = ros::ok();
g_camera_lidar_queue.m_liar_frame_buf = &lidar_buffer;
set_initial_state_cov( g_lio_state );
while ( ros::ok() )
{
if ( flg_exit )
break;
ros::spinOnce();
std::this_thread::sleep_for( std::chrono::milliseconds( 1 ) );
while ( g_camera_lidar_queue.if_lidar_can_process() == false )
{
ros::spinOnce();
std::this_thread::yield();
std::this_thread::sleep_for( std::chrono::milliseconds( THREAD_SLEEP_TIM ) );
}
std::unique_lock< std::mutex > lock( m_mutex_lio_process );
if ( 1 )
{
// printf_line;
Common_tools::Timer tim;
if ( sync_packages( Measures ) == 0 )
{
continue;
}
int lidar_can_update = 1;
g_lidar_star_tim = frame_first_pt_time;
if ( flg_reset )
{
ROS_WARN( "reset when rosbag play back" );
p_imu->Reset();
flg_reset = false;
continue;
}
g_LiDAR_frame_index++;
tim.tic( "Preprocess" );
double t0, t1, t2, t3, t4, t5, match_start, match_time, solve_start, solve_time, pca_time, svd_time;
match_time = 0;
kdtree_search_time = 0;
solve_time = 0;
pca_time = 0;
svd_time = 0;
t0 = omp_get_wtime();
p_imu->Process( Measures, g_lio_state, feats_undistort );
g_camera_lidar_queue.g_noise_cov_acc = p_imu->cov_acc;
g_camera_lidar_queue.g_noise_cov_gyro = p_imu->cov_gyr;
StatesGroup state_propagate( g_lio_state );
// cout << "G_lio_state.last_update_time = " << std::setprecision(10) << g_lio_state.last_update_time -g_lidar_star_tim << endl;
if ( feats_undistort->empty() || ( feats_undistort == NULL ) )
{
frame_first_pt_time = Measures.lidar_beg_time;
std::cout << "not ready for odometry" << std::endl;
continue;
}
if ( ( Measures.lidar_beg_time - frame_first_pt_time ) < INIT_TIME )
{
flg_EKF_inited = false;
std::cout << "||||||||||Initiallizing LiDAR||||||||||" << std::endl;
}
else
{
flg_EKF_inited = true;
}
/*** Compute the euler angle ***/
Eigen::Vector3d euler_cur = RotMtoEuler( g_lio_state.rot_end );
#ifdef DEBUG_PRINT
std::cout << "current lidar time " << Measures.lidar_beg_time << " "
<< "first lidar time " << frame_first_pt_time << std::endl;
std::cout << "pre-integrated states: " << euler_cur.transpose() * 57.3 << " " << g_lio_state.pos_end.transpose() << " "
<< g_lio_state.vel_end.transpose() << " " << g_lio_state.bias_g.transpose() << " " << g_lio_state.bias_a.transpose()
<< std::endl;
#endif
lasermap_fov_segment();
downSizeFilterSurf.setInputCloud( feats_undistort );
downSizeFilterSurf.filter( *feats_down );
// cout <<"Preprocess cost time: " << tim.toc("Preprocess") << endl;
/*** initialize the map kdtree ***/
if ( ( feats_down->points.size() > 1 ) && ( ikdtree.Root_Node == nullptr ) )
{
// std::vector<PointType> points_init = feats_down->points;
ikdtree.set_downsample_param( filter_size_map_min );
ikdtree.Build( feats_down->points );
flg_map_initialized = true;
continue;
}
if ( ikdtree.Root_Node == nullptr )
{
flg_map_initialized = false;
std::cout << "~~~~~~~ Initialize Map iKD-Tree Failed! ~~~~~~~" << std::endl;
continue;
}
int featsFromMapNum = ikdtree.size();
int feats_down_size = feats_down->points.size();
/*** ICP and iterated Kalman filter update ***/
PointCloudXYZINormal::Ptr coeffSel_tmpt( new PointCloudXYZINormal( *feats_down ) );
PointCloudXYZINormal::Ptr feats_down_updated( new PointCloudXYZINormal( *feats_down ) );
std::vector< double > res_last( feats_down_size, 1000.0 ); // initial
if ( featsFromMapNum >= 5 )
{
t1 = omp_get_wtime();
if ( m_if_publish_feature_map )
{
PointVector().swap( ikdtree.PCL_Storage );
ikdtree.flatten( ikdtree.Root_Node, ikdtree.PCL_Storage, NOT_RECORD );
featsFromMap->clear();
featsFromMap->points = ikdtree.PCL_Storage;
sensor_msgs::PointCloud2 laserCloudMap;
pcl::toROSMsg( *featsFromMap, laserCloudMap );
laserCloudMap.header.stamp = ros::Time::now(); // ros::Time().fromSec(last_timestamp_lidar);
// laserCloudMap.header.stamp.fromSec(Measures.lidar_end_time); // ros::Time().fromSec(last_timestamp_lidar);
laserCloudMap.header.frame_id = "world";
pubLaserCloudMap.publish( laserCloudMap );
}
std::vector< bool > point_selected_surf( feats_down_size, true );
std::vector< std::vector< int > > pointSearchInd_surf( feats_down_size );
std::vector< PointVector > Nearest_Points( feats_down_size );
int rematch_num = 0;
bool rematch_en = 0;
flg_EKF_converged = 0;
deltaR = 0.0;
deltaT = 0.0;
t2 = omp_get_wtime();
double maximum_pt_range = 0.0;
// cout <<"Preprocess 2 cost time: " << tim.toc("Preprocess") << endl;
for ( iterCount = 0; iterCount < NUM_MAX_ITERATIONS; iterCount++ )
{
tim.tic( "Iter" );
match_start = omp_get_wtime();
laserCloudOri->clear();
coeffSel->clear();
/** closest surface search and residual computation **/
for ( int i = 0; i < feats_down_size; i += m_lio_update_point_step )
{
double search_start = omp_get_wtime();
PointType &pointOri_tmpt = feats_down->points[ i ];
double ori_pt_dis =
sqrt( pointOri_tmpt.x * pointOri_tmpt.x + pointOri_tmpt.y * pointOri_tmpt.y + pointOri_tmpt.z * pointOri_tmpt.z );
maximum_pt_range = std::max( ori_pt_dis, maximum_pt_range );
PointType &pointSel_tmpt = feats_down_updated->points[ i ];
/* transform to world frame */
pointBodyToWorld( &pointOri_tmpt, &pointSel_tmpt );
std::vector< float > pointSearchSqDis_surf;
auto &points_near = Nearest_Points[ i ];
if ( iterCount == 0 || rematch_en )
{
point_selected_surf[ i ] = true;
/** Find the closest surfaces in the map **/
ikdtree.Nearest_Search( pointSel_tmpt, NUM_MATCH_POINTS, points_near, pointSearchSqDis_surf );
float max_distance = pointSearchSqDis_surf[ NUM_MATCH_POINTS - 1 ];
// max_distance to add residuals
// ANCHOR - Long range pt stragetry
if ( max_distance > m_maximum_pt_kdtree_dis )
{
point_selected_surf[ i ] = false;
}
}
kdtree_search_time += omp_get_wtime() - search_start;
if ( point_selected_surf[ i ] == false )
continue;
// match_time += omp_get_wtime() - match_start;
double pca_start = omp_get_wtime();
/// PCA (using minimum square method)
cv::Mat matA0( NUM_MATCH_POINTS, 3, CV_32F, cv::Scalar::all( 0 ) );
cv::Mat matB0( NUM_MATCH_POINTS, 1, CV_32F, cv::Scalar::all( -1 ) );
cv::Mat matX0( NUM_MATCH_POINTS, 1, CV_32F, cv::Scalar::all( 0 ) );
for ( int j = 0; j < NUM_MATCH_POINTS; j++ )
{
matA0.at< float >( j, 0 ) = points_near[ j ].x;
matA0.at< float >( j, 1 ) = points_near[ j ].y;
matA0.at< float >( j, 2 ) = points_near[ j ].z;
}
cv::solve( matA0, matB0, matX0, cv::DECOMP_QR ); // TODO
float pa = matX0.at< float >( 0, 0 );
float pb = matX0.at< float >( 1, 0 );
float pc = matX0.at< float >( 2, 0 );
float pd = 1;
float ps = sqrt( pa * pa + pb * pb + pc * pc );
pa /= ps;
pb /= ps;
pc /= ps;
pd /= ps;
bool planeValid = true;
for ( int j = 0; j < NUM_MATCH_POINTS; j++ )
{
// ANCHOR - Planar check
if ( fabs( pa * points_near[ j ].x + pb * points_near[ j ].y + pc * points_near[ j ].z + pd ) >
m_planar_check_dis ) // Raw 0.05
{
// ANCHOR - Far distance pt processing
if ( ori_pt_dis < maximum_pt_range * 0.90 || ( ori_pt_dis < m_long_rang_pt_dis ) )
// if(1)
{
planeValid = false;
point_selected_surf[ i ] = false;
break;
}
}
}
if ( planeValid )
{
float pd2 = pa * pointSel_tmpt.x + pb * pointSel_tmpt.y + pc * pointSel_tmpt.z + pd;
float s = 1 - 0.9 * fabs( pd2 ) /
sqrt( sqrt( pointSel_tmpt.x * pointSel_tmpt.x + pointSel_tmpt.y * pointSel_tmpt.y +
pointSel_tmpt.z * pointSel_tmpt.z ) );
// ANCHOR - Point to plane distance
double acc_distance = ( ori_pt_dis < m_long_rang_pt_dis ) ? m_maximum_res_dis : 1.0;
if ( pd2 < acc_distance )
{
// if(std::abs(pd2) > 5 * res_mean_last)
// {
// point_selected_surf[i] = false;
// res_last[i] = 0.0;
// continue;
// }
point_selected_surf[ i ] = true;
coeffSel_tmpt->points[ i ].x = pa;
coeffSel_tmpt->points[ i ].y = pb;
coeffSel_tmpt->points[ i ].z = pc;
coeffSel_tmpt->points[ i ].intensity = pd2;
res_last[ i ] = std::abs( pd2 );
}
else
{
point_selected_surf[ i ] = false;
}
}
pca_time += omp_get_wtime() - pca_start;
}
tim.tic( "Stack" );
double total_residual = 0.0;
laserCloudSelNum = 0;
for ( int i = 0; i < coeffSel_tmpt->points.size(); i++ )
{
if ( point_selected_surf[ i ] && ( res_last[ i ] <= 2.0 ) )
{
laserCloudOri->push_back( feats_down->points[ i ] );
coeffSel->push_back( coeffSel_tmpt->points[ i ] );
total_residual += res_last[ i ];
laserCloudSelNum++;
}
}
res_mean_last = total_residual / laserCloudSelNum;
match_time += omp_get_wtime() - match_start;
solve_start = omp_get_wtime();
/*** Computation of Measuremnt Jacobian matrix H and measurents vector ***/
Eigen::MatrixXd Hsub( laserCloudSelNum, 6 );
Eigen::VectorXd meas_vec( laserCloudSelNum );
Hsub.setZero();
for ( int i = 0; i < laserCloudSelNum; i++ )
{
const PointType &laser_p = laserCloudOri->points[ i ];
Eigen::Vector3d point_this( laser_p.x, laser_p.y, laser_p.z );
point_this += Lidar_offset_to_IMU;
Eigen::Matrix3d point_crossmat;
point_crossmat << SKEW_SYM_MATRIX( point_this );
/*** get the normal vector of closest surface/corner ***/
const PointType &norm_p = coeffSel->points[ i ];
Eigen::Vector3d norm_vec( norm_p.x, norm_p.y, norm_p.z );
/*** calculate the Measuremnt Jacobian matrix H ***/
Eigen::Vector3d A( point_crossmat * g_lio_state.rot_end.transpose() * norm_vec );
Hsub.row( i ) << VEC_FROM_ARRAY( A ), norm_p.x, norm_p.y, norm_p.z;
/*** Measuremnt: distance to the closest surface/corner ***/
meas_vec( i ) = -norm_p.intensity;
}
Eigen::Vector3d rot_add, t_add, v_add, bg_add, ba_add, g_add;
Eigen::Matrix< double, DIM_OF_STATES, 1 > solution;
Eigen::MatrixXd K( DIM_OF_STATES, laserCloudSelNum );
/*** Iterative Kalman Filter Update ***/
if ( !flg_EKF_inited )
{
cout << ANSI_COLOR_RED_BOLD << "Run EKF init" << ANSI_COLOR_RESET << endl;
/*** only run in initialization period ***/
set_initial_state_cov( g_lio_state );
}
else
{
// cout << ANSI_COLOR_RED_BOLD << "Run EKF uph" << ANSI_COLOR_RESET << endl;
auto &&Hsub_T = Hsub.transpose();
H_T_H.block< 6, 6 >( 0, 0 ) = Hsub_T * Hsub;
Eigen::Matrix< double, DIM_OF_STATES, DIM_OF_STATES > &&K_1 =
( H_T_H + ( g_lio_state.cov / LASER_POINT_COV ).inverse() ).inverse();
K = K_1.block< DIM_OF_STATES, 6 >( 0, 0 ) * Hsub_T;
auto vec = state_propagate - g_lio_state;
solution = K * ( meas_vec - Hsub * vec.block< 6, 1 >( 0, 0 ) );
// double speed_delta = solution.block( 0, 6, 3, 1 ).norm();
// if(solution.block( 0, 6, 3, 1 ).norm() > 0.05 )
// {
// solution.block( 0, 6, 3, 1 ) = solution.block( 0, 6, 3, 1 ) / speed_delta * 0.05;
// }
g_lio_state = state_propagate + solution;
print_dash_board();
// cout << ANSI_COLOR_RED_BOLD << "Run EKF uph, vec = " << vec.head<9>().transpose() << ANSI_COLOR_RESET << endl;
rot_add = solution.block< 3, 1 >( 0, 0 );
t_add = solution.block< 3, 1 >( 3, 0 );
flg_EKF_converged = false;
if ( ( ( rot_add.norm() * 57.3 - deltaR ) < 0.01 ) && ( ( t_add.norm() * 100 - deltaT ) < 0.015 ) )
{
flg_EKF_converged = true;
}
deltaR = rot_add.norm() * 57.3;
deltaT = t_add.norm() * 100;
}
// printf_line;
g_lio_state.last_update_time = Measures.lidar_end_time;
euler_cur = RotMtoEuler( g_lio_state.rot_end );
dump_lio_state_to_log( m_lio_state_fp );
/*** Rematch Judgement ***/
rematch_en = false;
if ( flg_EKF_converged || ( ( rematch_num == 0 ) && ( iterCount == ( NUM_MAX_ITERATIONS - 2 ) ) ) )
{
rematch_en = true;
rematch_num++;
}
/*** Convergence Judgements and Covariance Update ***/
// if (rematch_num >= 10 || (iterCount == NUM_MAX_ITERATIONS - 1))
if ( rematch_num >= 2 || ( iterCount == NUM_MAX_ITERATIONS - 1 ) ) // Fast lio ori version.
{
if ( flg_EKF_inited )
{
/*** Covariance Update ***/
G.block< DIM_OF_STATES, 6 >( 0, 0 ) = K * Hsub;
g_lio_state.cov = ( I_STATE - G ) * g_lio_state.cov;
total_distance += ( g_lio_state.pos_end - position_last ).norm();
position_last = g_lio_state.pos_end;
// std::cout << "position: " << g_lio_state.pos_end.transpose() << " total distance: " << total_distance << std::endl;
}
solve_time += omp_get_wtime() - solve_start;
break;
}
solve_time += omp_get_wtime() - solve_start;
// cout << "Match cost time: " << match_time * 1000.0
// << ", search cost time: " << kdtree_search_time*1000.0
// << ", PCA cost time: " << pca_time*1000.0
// << ", solver_cost: " << solve_time * 1000.0 << endl;
// cout <<"Iter cost time: " << tim.toc("Iter") << endl;
}
t3 = omp_get_wtime();
/*** add new frame points to map ikdtree ***/
PointVector points_history;
ikdtree.acquire_removed_points( points_history );
memset( cube_updated, 0, sizeof( cube_updated ) );
for ( int i = 0; i < points_history.size(); i++ )
{
PointType &pointSel = points_history[ i ];
int cubeI = int( ( pointSel.x + 0.5 * cube_len ) / cube_len ) + laserCloudCenWidth;
int cubeJ = int( ( pointSel.y + 0.5 * cube_len ) / cube_len ) + laserCloudCenHeight;
int cubeK = int( ( pointSel.z + 0.5 * cube_len ) / cube_len ) + laserCloudCenDepth;
if ( pointSel.x + 0.5 * cube_len < 0 )
cubeI--;
if ( pointSel.y + 0.5 * cube_len < 0 )
cubeJ--;
if ( pointSel.z + 0.5 * cube_len < 0 )
cubeK--;
if ( cubeI >= 0 && cubeI < laserCloudWidth && cubeJ >= 0 && cubeJ < laserCloudHeight && cubeK >= 0 && cubeK < laserCloudDepth )
{
int cubeInd = cubeI + laserCloudWidth * cubeJ + laserCloudWidth * laserCloudHeight * cubeK;
featsArray[ cubeInd ]->push_back( pointSel );
}
}
for ( int i = 0; i < feats_down_size; i++ )
{
/* transform to world frame */
pointBodyToWorld( &( feats_down->points[ i ] ), &( feats_down_updated->points[ i ] ) );
}
t4 = omp_get_wtime();
ikdtree.Add_Points( feats_down_updated->points, true );
kdtree_incremental_time = omp_get_wtime() - t4 + readd_time + readd_box_time + delete_box_time;
t5 = omp_get_wtime();
}
/******* Publish current frame points in world coordinates: *******/
laserCloudFullRes2->clear();
*laserCloudFullRes2 = dense_map_en ? ( *feats_undistort ) : ( *feats_down );
int laserCloudFullResNum = laserCloudFullRes2->points.size();
pcl::PointXYZI temp_point;
laserCloudFullResColor->clear();
{
for ( int i = 0; i < laserCloudFullResNum; i++ )
{
RGBpointBodyToWorld( &laserCloudFullRes2->points[ i ], &temp_point );
laserCloudFullResColor->push_back( temp_point );
}
sensor_msgs::PointCloud2 laserCloudFullRes3;
pcl::toROSMsg( *laserCloudFullResColor, laserCloudFullRes3 );
// laserCloudFullRes3.header.stamp = ros::Time::now(); //.fromSec(last_timestamp_lidar);
laserCloudFullRes3.header.stamp.fromSec( Measures.lidar_end_time );
laserCloudFullRes3.header.frame_id = "world"; // world; camera_init
pubLaserCloudFullRes.publish( laserCloudFullRes3 );
}
if ( g_camera_lidar_queue.m_if_have_camera_data || (g_LiDAR_frame_index < 100) ) // append point cloud to global map.
{
static std::vector< double > stastic_cost_time;
Common_tools::Timer tim;
// tim.tic();
// ANCHOR - RGB maps update
wait_render_thread_finish();
if ( m_if_record_mvs )
{
std::vector< std::shared_ptr< RGB_pts > > pts_last_hitted;
pts_last_hitted.reserve( 1e6 );
m_number_of_new_visited_voxel = m_map_rgb_pts.append_points_to_global_map(
*laserCloudFullResColor, Measures.lidar_end_time - g_camera_lidar_queue.m_first_imu_time, &pts_last_hitted,
m_append_global_map_point_step );
m_map_rgb_pts.m_mutex_pts_last_visited->lock();
m_map_rgb_pts.m_pts_last_hitted = pts_last_hitted;
m_map_rgb_pts.m_mutex_pts_last_visited->unlock();
}
else
{
m_number_of_new_visited_voxel = m_map_rgb_pts.append_points_to_global_map(
*laserCloudFullResColor, Measures.lidar_end_time - g_camera_lidar_queue.m_first_imu_time, nullptr,
m_append_global_map_point_step );
}
stastic_cost_time.push_back( tim.toc( " ", 0 ) );
}
if(0) // Uncomment this code scope to enable the publish of effective points.
{
/******* Publish effective points *******/