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laserMapping.cpp
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// This is an advanced implementation of the algorithm described in the
// following paper:
// J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
// Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014.
// Modifier: Livox [email protected]
// Copyright 2013, Ji Zhang, Carnegie Mellon University
// Further contributions copyright (c) 2016, Southwest Research Institute
// All rights reserved.
//
// 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 <math.h>
#include <nav_msgs/Odometry.h>
#include <opencv/cv.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/kdtree/kdtree_flann.h>
#include<pcl/io/pcd_io.h>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
typedef pcl::PointXYZI PointType;
int kfNum = 0;
float timeLaserCloudCornerLast = 0;
float timeLaserCloudSurfLast = 0;
float timeLaserCloudFullRes = 0;
bool newLaserCloudCornerLast = false;
bool newLaserCloudSurfLast = false;
bool newLaserCloudFullRes = false;
int laserCloudCenWidth = 10;
int laserCloudCenHeight = 5;
int laserCloudCenDepth = 10;
const int laserCloudWidth = 21;
const int laserCloudHeight = 11;
const int laserCloudDepth = 21;
const int laserCloudNum = laserCloudWidth * laserCloudHeight * laserCloudDepth;//4851
int laserCloudValidInd[125];
int laserCloudSurroundInd[125];
//corner feature
pcl::PointCloud<PointType>::Ptr laserCloudCornerLast(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudCornerLast_down(new pcl::PointCloud<PointType>());
//surf feature
pcl::PointCloud<PointType>::Ptr laserCloudSurfLast(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudSurfLast_down(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudOri(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr coeffSel(new pcl::PointCloud<PointType>());
// pcl::PointCloud<PointType>::Ptr laserCloudSurround(new pcl::PointCloud<PointType>());
// pcl::PointCloud<PointType>::Ptr laserCloudSurround_corner(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudSurround2(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudSurround2_corner(new pcl::PointCloud<PointType>());
//corner feature in map
pcl::PointCloud<PointType>::Ptr laserCloudCornerFromMap(new pcl::PointCloud<PointType>());
//surf feature in map
pcl::PointCloud<PointType>::Ptr laserCloudSurfFromMap(new pcl::PointCloud<PointType>());
std::vector< Eigen::Matrix<float,7,1> > keyframe_pose;
std::vector< Eigen::Matrix4f > pose_map;
//all points
pcl::PointCloud<PointType>::Ptr laserCloudFullRes(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr laserCloudFullRes2(new pcl::PointCloud<PointType>());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr laserCloudFullResColor(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr laserCloudFullResColor_pcd(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::PointCloud<PointType>::Ptr laserCloudCornerArray[laserCloudNum];
pcl::PointCloud<PointType>::Ptr laserCloudSurfArray[laserCloudNum];
pcl::PointCloud<PointType>::Ptr laserCloudCornerArray2[laserCloudNum];
pcl::PointCloud<PointType>::Ptr laserCloudSurfArray2[laserCloudNum];
pcl::KdTreeFLANN<PointType>::Ptr kdtreeCornerFromMap(new pcl::KdTreeFLANN<PointType>());
pcl::KdTreeFLANN<PointType>::Ptr kdtreeSurfFromMap(new pcl::KdTreeFLANN<PointType>());
//optimization states
float transformTobeMapped[6] = {0};
//optimization states after mapping
float transformAftMapped[6] = {0};
//last optimization states
float transformLastMapped[6] = {0};
double rad2deg(double radians)
{
return radians * 180.0 / M_PI;
}
double deg2rad(double degrees)
{
return degrees * M_PI / 180.0;
}
Eigen::Matrix4f trans_euler_to_matrix(const float *trans)
{
Eigen::Matrix4f T = Eigen::Matrix4f::Identity();
Eigen::Matrix3f R;
Eigen::AngleAxisf rollAngle(Eigen::AngleAxisf(trans[0],Eigen::Vector3f::UnitX()));
Eigen::AngleAxisf pitchAngle(Eigen::AngleAxisf(trans[1],Eigen::Vector3f::UnitY()));
Eigen::AngleAxisf yawAngle(Eigen::AngleAxisf(trans[2],Eigen::Vector3f::UnitZ()));
R = pitchAngle * rollAngle * yawAngle; //zxy
T.block<3,3>(0,0) = R;
T.block<3,1>(0,3) = Eigen::Vector3f(trans[3],trans[4],trans[5]);
return T;
}
void transformAssociateToMap()
{
Eigen::Matrix4f T_aft,T_last,T_predict;
Eigen::Matrix3f R_predict;
Eigen::Vector3f euler_predict,t_predict;
T_aft = trans_euler_to_matrix(transformAftMapped);
T_last = trans_euler_to_matrix(transformLastMapped);
T_predict = T_aft * T_last.inverse() * T_aft;
R_predict = T_predict.block<3,3>(0,0);
euler_predict = R_predict.eulerAngles(1,0,2);
t_predict = T_predict.block<3,1>(0,3);
transformTobeMapped[0] = euler_predict[0];
transformTobeMapped[1] = euler_predict[1];
transformTobeMapped[2] = euler_predict[2];
transformTobeMapped[3] = t_predict[0];
transformTobeMapped[4] = t_predict[1];
transformTobeMapped[5] = t_predict[2];
std::cout<<"DEBUG transformAftMapped : "<<transformAftMapped[0]<<" "<<transformAftMapped[1]<<" "<<transformAftMapped[2]<<" "
<<transformAftMapped[3]<<" "<<transformAftMapped[4]<<" "<<transformAftMapped[5]<<std::endl;
std::cout<<"DEBUG transformTobeMapped : "<<transformTobeMapped[0]<<" "<<transformTobeMapped[1]<<" "<<transformTobeMapped[2]<<" "
<<transformTobeMapped[3]<<" "<<transformTobeMapped[4]<<" "<<transformTobeMapped[5]<<std::endl;
}
void transformUpdate()
{
for (int i = 0; i < 6; i++) {
transformLastMapped[i] = transformAftMapped[i];
transformAftMapped[i] = transformTobeMapped[i];
}
}
//lidar coordinate sys to world coordinate sys
void pointAssociateToMap(PointType const * const pi, PointType * const po)
{
//rot z（transformTobeMapped[2]）
float x1 = cos(transformTobeMapped[2]) * pi->x
- sin(transformTobeMapped[2]) * pi->y;
float y1 = sin(transformTobeMapped[2]) * pi->x
+ cos(transformTobeMapped[2]) * pi->y;
float z1 = pi->z;
//rot x（transformTobeMapped[0]）
float x2 = x1;
float y2 = cos(transformTobeMapped[0]) * y1 - sin(transformTobeMapped[0]) * z1;
float z2 = sin(transformTobeMapped[0]) * y1 + cos(transformTobeMapped[0]) * z1;
//rot y（transformTobeMapped[1]）then add trans
po->x = cos(transformTobeMapped[1]) * x2 + sin(transformTobeMapped[1]) * z2
+ transformTobeMapped[3];
po->y = y2 + transformTobeMapped[4];
po->z = -sin(transformTobeMapped[1]) * x2 + cos(transformTobeMapped[1]) * z2
+ transformTobeMapped[5];
po->intensity = pi->intensity;
}
//lidar coordinate sys to world coordinate sys USE S
void pointAssociateToMap_all(PointType const * const pi, PointType * const po)
{
// Eigen::Matrix4f T_aft,T_last,delta_T;
// Eigen::Matrix3f R_aft,R_last;
// Eigen::Quaternionf Q_aft,Q_last;
// Eigen::Vector3f t_aft,t_last;
// T_aft = trans_euler_to_matrix(transformAftMapped);
// T_last = trans_euler_to_matrix(transformLastMapped);
// R_aft = T_aft.block<3,3>(0,0);
// R_last = T_last.block<3,3>(0,0);
// Q_aft = R_aft;
// Q_last = R_last;
double s;
s = pi->intensity - int(pi->intensity);
//std::cout<<"DEBUG pointAssociateToMap_all s: "<<pi->intensity<<std::endl;
// Eigen::Quaternionf Q_s = Q_last.slerp(s,Q_aft);
// Eigen::Matrix3f R_s = Q_s.matrix();
// Eigen::Vector3f euler_s = R_s.eulerAngles(2,0,1);
float rx = (1-s)*transformLastMapped[0] + s * transformAftMapped[0];
float ry = (1-s)*transformLastMapped[1] + s * transformAftMapped[1];
float rz = (1-s)*transformLastMapped[2] + s * transformAftMapped[2];
float tx = (1-s)*transformLastMapped[3] + s * transformAftMapped[3];
float ty = (1-s)*transformLastMapped[4] + s * transformAftMapped[4];
float tz = (1-s)*transformLastMapped[5] + s * transformAftMapped[5];
//rot z（transformTobeMapped[2]）
float x1 = cos(rz) * pi->x
- sin(rz) * pi->y;
float y1 = sin(rz) * pi->x
+ cos(rz) * pi->y;
float z1 = pi->z;
//rot x（transformTobeMapped[0]）
float x2 = x1;
float y2 = cos(rx) * y1 - sin(rx) * z1;
float z2 = sin(rx) * y1 + cos(rx) * z1;
//rot y（transformTobeMapped[1]）then add trans
po->x = cos(ry) * x2 + sin(ry) * z2 + tx;
po->y = y2 + ty;
po->z = -sin(ry) * x2 + cos(ry) * z2 + tz;
po->intensity = pi->intensity;
}
void RGBpointAssociateToMap(PointType const * const pi, pcl::PointXYZRGB * const po)
{
double s;
s = pi->intensity - int(pi->intensity);
// float rx = (1-s)*transformLastMapped[0] + s * transformAftMapped[0];
// float ry = (1-s)*transformLastMapped[1] + s * transformAftMapped[1];
// float rz = (1-s)*transformLastMapped[2] + s * transformAftMapped[2];
// float tx = (1-s)*transformLastMapped[3] + s * transformAftMapped[3];
// float ty = (1-s)*transformLastMapped[4] + s * transformAftMapped[4];
// float tz = (1-s)*transformLastMapped[5] + s * transformAftMapped[5];
float rx = transformAftMapped[0];
float ry = transformAftMapped[1];
float rz = transformAftMapped[2];
float tx = transformAftMapped[3];
float ty = transformAftMapped[4];
float tz = transformAftMapped[5];
//rot z（transformTobeMapped[2]）
float x1 = cos(rz) * pi->x
- sin(rz) * pi->y;
float y1 = sin(rz) * pi->x
+ cos(rz) * pi->y;
float z1 = pi->z;
//rot x（transformTobeMapped[0]）
float x2 = x1;
float y2 = cos(rx) * y1 - sin(rx) * z1;
float z2 = sin(rx) * y1 + cos(rx) * z1;
//rot y（transformTobeMapped[1]）then add trans
po->x = cos(ry) * x2 + sin(ry) * z2 + tx;
po->y = y2 + ty;
po->z = -sin(ry) * x2 + cos(ry) * z2 + tz;
//po->intensity = pi->intensity;
float intensity = pi->intensity;
intensity = intensity - std::floor(intensity);
int reflection_map = intensity*10000;
//std::cout<<"DEBUG reflection_map "<<reflection_map<<std::endl;
if (reflection_map < 30)
{
int green = (reflection_map * 255 / 30);
po->r = 0;
po->g = green & 0xff;
po->b = 0xff;
}
else if (reflection_map < 90)
{
int blue = (((90 - reflection_map) * 255) / 60);
po->r = 0x0;
po->g = 0xff;
po->b = blue & 0xff;
}
else if (reflection_map < 150)
{
int red = ((reflection_map-90) * 255 / 60);
po->r = red & 0xff;
po->g = 0xff;
po->b = 0x0;
}
else
{
int green = (((255-reflection_map) * 255) / (255-150));
po->r = 0xff;
po->g = green & 0xff;
po->b = 0;
}
}
void pointAssociateTobeMapped(PointType const * const pi, PointType * const po)
{
//add trans then rot y
float x1 = cos(transformTobeMapped[1]) * (pi->x - transformTobeMapped[3])
- sin(transformTobeMapped[1]) * (pi->z - transformTobeMapped[5]);
float y1 = pi->y - transformTobeMapped[4];
float z1 = sin(transformTobeMapped[1]) * (pi->x - transformTobeMapped[3])
+ cos(transformTobeMapped[1]) * (pi->z - transformTobeMapped[5]);
//rot x
float x2 = x1;
float y2 = cos(transformTobeMapped[0]) * y1 + sin(transformTobeMapped[0]) * z1;
float z2 = -sin(transformTobeMapped[0]) * y1 + cos(transformTobeMapped[0]) * z1;
//rot z
po->x = cos(transformTobeMapped[2]) * x2
+ sin(transformTobeMapped[2]) * y2;
po->y = -sin(transformTobeMapped[2]) * x2
+ cos(transformTobeMapped[2]) * y2;
po->z = z2;
po->intensity = pi->intensity;
}
void laserCloudCornerLastHandler(const sensor_msgs::PointCloud2ConstPtr& laserCloudCornerLast2)
{
timeLaserCloudCornerLast = laserCloudCornerLast2->header.stamp.toSec();
laserCloudCornerLast->clear();
pcl::fromROSMsg(*laserCloudCornerLast2, *laserCloudCornerLast);
newLaserCloudCornerLast = true;
}
void laserCloudSurfLastHandler(const sensor_msgs::PointCloud2ConstPtr& laserCloudSurfLast2)
{
timeLaserCloudSurfLast = laserCloudSurfLast2->header.stamp.toSec();
laserCloudSurfLast->clear();
pcl::fromROSMsg(*laserCloudSurfLast2, *laserCloudSurfLast);
newLaserCloudSurfLast = true;
}
void laserCloudFullResHandler(const sensor_msgs::PointCloud2ConstPtr& laserCloudFullRes2)
{
timeLaserCloudFullRes = laserCloudFullRes2->header.stamp.toSec();
laserCloudFullRes->clear();
laserCloudFullResColor->clear();
pcl::fromROSMsg(*laserCloudFullRes2, *laserCloudFullRes);
newLaserCloudFullRes = true;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "laserMapping");
ros::NodeHandle nh;
ros::Subscriber subLaserCloudCornerLast = nh.subscribe<sensor_msgs::PointCloud2>
("/laser_cloud_sharp", 100, laserCloudCornerLastHandler);
ros::Subscriber subLaserCloudSurfLast = nh.subscribe<sensor_msgs::PointCloud2>
("/laser_cloud_flat", 100, laserCloudSurfLastHandler);
ros::Subscriber subLaserCloudFullRes = nh.subscribe<sensor_msgs::PointCloud2>
("/livox_cloud", 100, laserCloudFullResHandler);
ros::Publisher pubLaserCloudSurround = nh.advertise<sensor_msgs::PointCloud2>
("/laser_cloud_surround", 100);
ros::Publisher pubLaserCloudSurround_corner = nh.advertise<sensor_msgs::PointCloud2>
("/laser_cloud_surround_corner", 100);
ros::Publisher pubLaserCloudFullRes = nh.advertise<sensor_msgs::PointCloud2>
("/velodyne_cloud_registered", 100);
ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry> ("/aft_mapped_to_init", 1);
nav_msgs::Odometry odomAftMapped;
odomAftMapped.header.frame_id = "/camera_init";
odomAftMapped.child_frame_id = "/aft_mapped";
std::string map_file_path;
ros::param::get("~map_file_path",map_file_path);
double filter_parameter_corner;
ros::param::get("~filter_parameter_corner",filter_parameter_corner);
double filter_parameter_surf;
ros::param::get("~filter_parameter_surf",filter_parameter_surf);
std::vector<int> pointSearchInd;
std::vector<float> pointSearchSqDis;
PointType pointOri, pointSel, coeff;
cv::Mat matA0(10, 3, CV_32F, cv::Scalar::all(0));
cv::Mat matB0(10, 1, CV_32F, cv::Scalar::all(-1));
cv::Mat matX0(10, 1, CV_32F, cv::Scalar::all(0));
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));
bool isDegenerate = false;
cv::Mat matP(6, 6, CV_32F, cv::Scalar::all(0));
//VoxelGrid
pcl::VoxelGrid<PointType> downSizeFilterCorner;
downSizeFilterCorner.setLeafSize(filter_parameter_corner, filter_parameter_corner, filter_parameter_corner);
pcl::VoxelGrid<PointType> downSizeFilterSurf;
downSizeFilterSurf.setLeafSize(filter_parameter_surf, filter_parameter_surf, filter_parameter_surf);
// pcl::VoxelGrid<PointType> downSizeFilterFull;
// downSizeFilterFull.setLeafSize(0.15, 0.15, 0.15);
for (int i = 0; i < laserCloudNum; i++) {
laserCloudCornerArray[i].reset(new pcl::PointCloud<PointType>());
laserCloudSurfArray[i].reset(new pcl::PointCloud<PointType>());
laserCloudCornerArray2[i].reset(new pcl::PointCloud<PointType>());
laserCloudSurfArray2[i].reset(new pcl::PointCloud<PointType>());
}
//------------------------------------------------------------------------------------------------------
ros::Rate rate(100);
bool status = ros::ok();
while (status) {
ros::spinOnce();
if (newLaserCloudCornerLast && newLaserCloudSurfLast && newLaserCloudFullRes &&
fabs(timeLaserCloudSurfLast - timeLaserCloudCornerLast) < 0.005 &&
fabs(timeLaserCloudFullRes - timeLaserCloudCornerLast) < 0.005) {
clock_t t1,t2,t3,t4;
t1 = clock();
newLaserCloudCornerLast = false;
newLaserCloudSurfLast = false;
newLaserCloudFullRes = false;
//transformAssociateToMap();
std::cout<<"DEBUG mapping start "<<std::endl;
PointType pointOnYAxis;
pointOnYAxis.x = 0.0;
pointOnYAxis.y = 10.0;
pointOnYAxis.z = 0.0;
pointAssociateToMap(&pointOnYAxis, &pointOnYAxis);
int centerCubeI = int((transformTobeMapped[3] + 25.0) / 50.0) + laserCloudCenWidth;
int centerCubeJ = int((transformTobeMapped[4] + 25.0) / 50.0) + laserCloudCenHeight;
int centerCubeK = int((transformTobeMapped[5] + 25.0) / 50.0) + laserCloudCenDepth;
if (transformTobeMapped[3] + 25.0 < 0) centerCubeI--;
if (transformTobeMapped[4] + 25.0 < 0) centerCubeJ--;
if (transformTobeMapped[5] + 25.0 < 0) centerCubeK--;
while (centerCubeI < 3) {
for (int j = 0; j < laserCloudHeight; j++) {
for (int k = 0; k < laserCloudDepth; k++) {
int i = laserCloudWidth - 1;
pcl::PointCloud<PointType>::Ptr laserCloudCubeCornerPointer =
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
pcl::PointCloud<PointType>::Ptr laserCloudCubeSurfPointer =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
for (; i >= 1; i--) {
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCornerArray[i - 1 + laserCloudWidth*j + laserCloudWidth * laserCloudHeight * k];
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudSurfArray[i - 1 + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
}
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeCornerPointer;
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeSurfPointer;
laserCloudCubeCornerPointer->clear();
laserCloudCubeSurfPointer->clear();
}
}
centerCubeI++;
laserCloudCenWidth++;
}
while (centerCubeI >= laserCloudWidth - 3) {
for (int j = 0; j < laserCloudHeight; j++) {
for (int k = 0; k < laserCloudDepth; k++) {
int i = 0;
pcl::PointCloud<PointType>::Ptr laserCloudCubeCornerPointer =
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
pcl::PointCloud<PointType>::Ptr laserCloudCubeSurfPointer =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
for (; i < laserCloudWidth - 1; i++) {
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCornerArray[i + 1 + laserCloudWidth*j + laserCloudWidth * laserCloudHeight * k];
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudSurfArray[i + 1 + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
}
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeCornerPointer;
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeSurfPointer;
laserCloudCubeCornerPointer->clear();
laserCloudCubeSurfPointer->clear();
}
}
centerCubeI--;
laserCloudCenWidth--;
}
while (centerCubeJ < 3) {
for (int i = 0; i < laserCloudWidth; i++) {
for (int k = 0; k < laserCloudDepth; k++) {
int j = laserCloudHeight - 1;
pcl::PointCloud<PointType>::Ptr laserCloudCubeCornerPointer =
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
pcl::PointCloud<PointType>::Ptr laserCloudCubeSurfPointer =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
for (; j >= 1; j--) {
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCornerArray[i + laserCloudWidth*(j - 1) + laserCloudWidth * laserCloudHeight*k];
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudSurfArray[i + laserCloudWidth * (j - 1) + laserCloudWidth * laserCloudHeight*k];
}
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeCornerPointer;
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeSurfPointer;
laserCloudCubeCornerPointer->clear();
laserCloudCubeSurfPointer->clear();
}
}
centerCubeJ++;
laserCloudCenHeight++;
}
while (centerCubeJ >= laserCloudHeight - 3) {
for (int i = 0; i < laserCloudWidth; i++) {
for (int k = 0; k < laserCloudDepth; k++) {
int j = 0;
pcl::PointCloud<PointType>::Ptr laserCloudCubeCornerPointer =
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
pcl::PointCloud<PointType>::Ptr laserCloudCubeSurfPointer =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
for (; j < laserCloudHeight - 1; j++) {
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCornerArray[i + laserCloudWidth*(j + 1) + laserCloudWidth * laserCloudHeight*k];
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudSurfArray[i + laserCloudWidth * (j + 1) + laserCloudWidth * laserCloudHeight*k];
}
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeCornerPointer;
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeSurfPointer;
laserCloudCubeCornerPointer->clear();
laserCloudCubeSurfPointer->clear();
}
}
centerCubeJ--;
laserCloudCenHeight--;
}
while (centerCubeK < 3) {
for (int i = 0; i < laserCloudWidth; i++) {
for (int j = 0; j < laserCloudHeight; j++) {
int k = laserCloudDepth - 1;
pcl::PointCloud<PointType>::Ptr laserCloudCubeCornerPointer =
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
pcl::PointCloud<PointType>::Ptr laserCloudCubeSurfPointer =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
for (; k >= 1; k--) {
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCornerArray[i + laserCloudWidth*j + laserCloudWidth * laserCloudHeight*(k - 1)];
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight*(k - 1)];
}
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeCornerPointer;
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeSurfPointer;
laserCloudCubeCornerPointer->clear();
laserCloudCubeSurfPointer->clear();
}
}
centerCubeK++;
laserCloudCenDepth++;
}
while (centerCubeK >= laserCloudDepth - 3) {
for (int i = 0; i < laserCloudWidth; i++) {
for (int j = 0; j < laserCloudHeight; j++) {
int k = 0;
pcl::PointCloud<PointType>::Ptr laserCloudCubeCornerPointer =
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
pcl::PointCloud<PointType>::Ptr laserCloudCubeSurfPointer =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k];
for (; k < laserCloudDepth - 1; k++) {
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCornerArray[i + laserCloudWidth*j + laserCloudWidth * laserCloudHeight*(k + 1)];
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight*(k + 1)];
}
laserCloudCornerArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeCornerPointer;
laserCloudSurfArray[i + laserCloudWidth * j + laserCloudWidth * laserCloudHeight * k] =
laserCloudCubeSurfPointer;
laserCloudCubeCornerPointer->clear();
laserCloudCubeSurfPointer->clear();
}
}
centerCubeK--;
laserCloudCenDepth--;
}
int laserCloudValidNum = 0;
int laserCloudSurroundNum = 0;
for (int i = centerCubeI - 2; i <= centerCubeI + 2; i++) {
for (int j = centerCubeJ - 2; j <= centerCubeJ + 2; j++) {
for (int k = centerCubeK - 2; k <= centerCubeK + 2; k++) {
if (i >= 0 && i < laserCloudWidth &&
j >= 0 && j < laserCloudHeight &&
k >= 0 && k < laserCloudDepth) {
float centerX = 50.0 * (i - laserCloudCenWidth);
float centerY = 50.0 * (j - laserCloudCenHeight);
float centerZ = 50.0 * (k - laserCloudCenDepth);
bool isInLaserFOV = false;
for (int ii = -1; ii <= 1; ii += 2) {
for (int jj = -1; jj <= 1; jj += 2) {
for (int kk = -1; kk <= 1; kk += 2) {
float cornerX = centerX + 25.0 * ii;
float cornerY = centerY + 25.0 * jj;
float cornerZ = centerZ + 25.0 * kk;
float squaredSide1 = (transformTobeMapped[3] - cornerX)
* (transformTobeMapped[3] - cornerX)
+ (transformTobeMapped[4] - cornerY)
* (transformTobeMapped[4] - cornerY)
+ (transformTobeMapped[5] - cornerZ)
* (transformTobeMapped[5] - cornerZ);
float squaredSide2 = (pointOnYAxis.x - cornerX) * (pointOnYAxis.x - cornerX)
+ (pointOnYAxis.y - cornerY) * (pointOnYAxis.y - cornerY)
+ (pointOnYAxis.z - cornerZ) * (pointOnYAxis.z - cornerZ);
float check1 = 100.0 + squaredSide1 - squaredSide2
- 10.0 * sqrt(3.0) * sqrt(squaredSide1);
float check2 = 100.0 + squaredSide1 - squaredSide2
+ 10.0 * sqrt(3.0) * sqrt(squaredSide1);
if (check1 < 0 && check2 > 0) {
isInLaserFOV = true;
}
}
}
}
if (isInLaserFOV) {
laserCloudValidInd[laserCloudValidNum] = i + laserCloudWidth * j
+ laserCloudWidth * laserCloudHeight * k;
laserCloudValidNum++;
}
laserCloudSurroundInd[laserCloudSurroundNum] = i + laserCloudWidth * j
+ laserCloudWidth * laserCloudHeight * k;
laserCloudSurroundNum++;
}
}
}
}
laserCloudCornerFromMap->clear();
laserCloudSurfFromMap->clear();
for (int i = 0; i < laserCloudValidNum; i++) {
*laserCloudCornerFromMap += *laserCloudCornerArray[laserCloudValidInd[i]];
*laserCloudSurfFromMap += *laserCloudSurfArray[laserCloudValidInd[i]];
}
int laserCloudCornerFromMapNum = laserCloudCornerFromMap->points.size();
int laserCloudSurfFromMapNum = laserCloudSurfFromMap->points.size();
laserCloudCornerLast_down->clear();
downSizeFilterCorner.setInputCloud(laserCloudCornerLast);
downSizeFilterCorner.filter(*laserCloudCornerLast_down);
int laserCloudCornerLast_downNum = laserCloudCornerLast_down->points.size();
laserCloudSurfLast_down->clear();
downSizeFilterSurf.setInputCloud(laserCloudSurfLast);
downSizeFilterSurf.filter(*laserCloudSurfLast_down);
int laserCloudSurfLast_downNum = laserCloudSurfLast_down->points.size();
std::cout<<"DEBUG MAPPING laserCloudCornerLast_down : "<<laserCloudCornerLast_down->points.size()<<" laserCloudSurfLast_down : "
<<laserCloudSurfLast_down->points.size()<<std::endl;
std::cout<<"DEBUG MAPPING laserCloudCornerLast : "<<laserCloudCornerLast->points.size()<<" laserCloudSurfLast : "
<<laserCloudSurfLast->points.size()<<std::endl;
std::cout<<"DEBUG MAPPING laserCloudCornerFromMapNum : "<<laserCloudCornerFromMapNum<<" laserCloudSurfFromMapNum : "
<<laserCloudSurfFromMapNum<<std::endl;
t2 = clock();
if (laserCloudCornerFromMapNum > 10 && laserCloudSurfFromMapNum > 100) {
//if (laserCloudSurfFromMapNum > 100) {
kdtreeCornerFromMap->setInputCloud(laserCloudCornerFromMap);
kdtreeSurfFromMap->setInputCloud(laserCloudSurfFromMap);
int num_temp = 0;
for (int iterCount = 0; iterCount < 20; iterCount++) {
num_temp++;
laserCloudOri->clear();
coeffSel->clear();
for (int i = 0; i < laserCloudCornerLast->points.size(); i++) {
pointOri = laserCloudCornerLast->points[i];
pointAssociateToMap(&pointOri, &pointSel);
//find the closest 5 points
kdtreeCornerFromMap->nearestKSearch(pointSel, 5, pointSearchInd, pointSearchSqDis);
if (pointSearchSqDis[4] < 1.5) {
float cx = 0;
float cy = 0;
float cz = 0;
for (int j = 0; j < 5; j++) {
cx += laserCloudCornerFromMap->points[pointSearchInd[j]].x;
cy += laserCloudCornerFromMap->points[pointSearchInd[j]].y;
cz += laserCloudCornerFromMap->points[pointSearchInd[j]].z;
}
cx /= 5;
cy /= 5;
cz /= 5;
//mean square error
float a11 = 0;
float a12 = 0;
float a13 = 0;
float a22 = 0;
float a23 = 0;
float a33 = 0;
for (int j = 0; j < 5; j++) {
float ax = laserCloudCornerFromMap->points[pointSearchInd[j]].x - cx;
float ay = laserCloudCornerFromMap->points[pointSearchInd[j]].y - cy;
float az = laserCloudCornerFromMap->points[pointSearchInd[j]].z - cz;
a11 += ax * ax;
a12 += ax * ay;
a13 += ax * az;
a22 += ay * ay;
a23 += ay * az;
a33 += az * az;
}
a11 /= 5;
a12 /= 5;
a13 /= 5;
a22 /= 5;
a23 /= 5;
a33 /= 5;
matA1.at<float>(0, 0) = a11;
matA1.at<float>(0, 1) = a12;
matA1.at<float>(0, 2) = a13;
matA1.at<float>(1, 0) = a12;
matA1.at<float>(1, 1) = a22;
matA1.at<float>(1, 2) = a23;
matA1.at<float>(2, 0) = a13;
matA1.at<float>(2, 1) = a23;
matA1.at<float>(2, 2) = a33;
cv::eigen(matA1, matD1, matV1);
if (matD1.at<float>(0, 0) > 3 * matD1.at<float>(0, 1)) {
float x0 = pointSel.x;
float y0 = pointSel.y;
float z0 = pointSel.z;
float x1 = cx + 0.1 * matV1.at<float>(0, 0);
float y1 = cy + 0.1 * matV1.at<float>(0, 1);
float z1 = cz + 0.1 * matV1.at<float>(0, 2);
float x2 = cx - 0.1 * matV1.at<float>(0, 0);
float y2 = cy - 0.1 * matV1.at<float>(0, 1);
float z2 = cz - 0.1 * matV1.at<float>(0, 2);
//OA = (x0 - x1, y0 - y1, z0 - z1),OB = (x0 - x2, y0 - y2, z0 - z2)，AB = （x1 - x2, y1 - y2, z1 - z2）
//cross:
//| i j k |
//|x0-x1 y0-y1 z0-z1|
//|x0-x2 y0-y2 z0-z2|
float a012 = sqrt(((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
* ((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
+ ((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))
* ((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))
+ ((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1))
* ((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1)));
float l12 = sqrt((x1 - x2)*(x1 - x2) + (y1 - y2)*(y1 - y2) + (z1 - z2)*(z1 - z2));
float la = ((y1 - y2)*((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
+ (z1 - z2)*((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))) / a012 / l12;
float lb = -((x1 - x2)*((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
- (z1 - z2)*((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1))) / a012 / l12;
float lc = -((x1 - x2)*((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))
+ (y1 - y2)*((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1))) / a012 / l12;
float ld2 = a012 / l12;
//if(fabs(ld2) > 1) continue;
float s = 1 - 0.9 * fabs(ld2);
coeff.x = s * la;
coeff.y = s * lb;
coeff.z = s * lc;
coeff.intensity = s * ld2;
if (s > 0.1) {
laserCloudOri->push_back(pointOri);
coeffSel->push_back(coeff);
}
}
}
}
//std::cout <<"DEBUG mapping select corner points : " << coeffSel->size() << std::endl;
for (int i = 0; i < laserCloudSurfLast_down->points.size(); i++) {
pointOri = laserCloudSurfLast_down->points[i];
pointAssociateToMap(&pointOri, &pointSel);
kdtreeSurfFromMap->nearestKSearch(pointSel, 8, pointSearchInd, pointSearchSqDis);
if (pointSearchSqDis[7] < 5.0) {
for (int j = 0; j < 8; j++) {
matA0.at<float>(j, 0) = laserCloudSurfFromMap->points[pointSearchInd[j]].x;
matA0.at<float>(j, 1) = laserCloudSurfFromMap->points[pointSearchInd[j]].y;
matA0.at<float>(j, 2) = laserCloudSurfFromMap->points[pointSearchInd[j]].z;
}
//matA0*matX0=matB0
//AX+BY+CZ+D = 0 <=> AX+BY+CZ=-D <=> (A/D)X+(B/D)Y+(C/D)Z = -1
//(X,Y,Z)<=>mat_a0
//A/D, B/D, C/D <=> mat_x0
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;
//ps is the norm of the plane normal vector
//pd is the distance from point to plane
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 < 8; j++) {
if (fabs(pa * laserCloudSurfFromMap->points[pointSearchInd[j]].x +
pb * laserCloudSurfFromMap->points[pointSearchInd[j]].y +
pc * laserCloudSurfFromMap->points[pointSearchInd[j]].z + pd) > 0.2) {
planeValid = false;
break;
}
}
if (planeValid) {
//loss fuction
float pd2 = pa * pointSel.x + pb * pointSel.y + pc * pointSel.z + pd;
//if(fabs(pd2) > 0.1) continue;
float s = 1 - 0.9 * fabs(pd2) / sqrt(sqrt(pointSel.x * pointSel.x + pointSel.y * pointSel.y + pointSel.z * pointSel.z));
coeff.x = s * pa;
coeff.y = s * pb;
coeff.z = s * pc;
coeff.intensity = s * pd2;
if (s > 0.1) {
laserCloudOri->push_back(pointOri);
coeffSel->push_back(coeff);
}
}
}
}
//std::cout <<"DEBUG mapping select all points : " << coeffSel->size() << std::endl;
float srx = sin(transformTobeMapped[0]);
float crx = cos(transformTobeMapped[0]);
float sry = sin(transformTobeMapped[1]);
float cry = cos(transformTobeMapped[1]);
float srz = sin(transformTobeMapped[2]);
float crz = cos(transformTobeMapped[2]);
int laserCloudSelNum = laserCloudOri->points.size();
if (laserCloudSelNum < 50) {
continue;
}
//|c1c3+s1s2s3 c3s1s2-c1s3 c2s1|
//| c2s3 c2c3 -s2|
//|c1s2s3-c3s1 c1c3s2+s1s3 c1c2|
//AT*A*x = AT*b
cv::Mat matA(laserCloudSelNum, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matAt(6, laserCloudSelNum, CV_32F, cv::Scalar::all(0));
cv::Mat matAtA(6, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matB(laserCloudSelNum, 1, CV_32F, cv::Scalar::all(0));
cv::Mat matAtB(6, 1, CV_32F, cv::Scalar::all(0));
cv::Mat matX(6, 1, CV_32F, cv::Scalar::all(0));
float debug_distance = 0;
for (int i = 0; i < laserCloudSelNum; i++) {
pointOri = laserCloudOri->points[i];
coeff = coeffSel->points[i];
float arx = (crx*sry*srz*pointOri.x + crx*crz*sry*pointOri.y - srx*sry*pointOri.z) * coeff.x
+ (-srx*srz*pointOri.x - crz*srx*pointOri.y - crx*pointOri.z) * coeff.y
+ (crx*cry*srz*pointOri.x + crx*cry*crz*pointOri.y - cry*srx*pointOri.z) * coeff.z;
float ary = ((cry*srx*srz - crz*sry)*pointOri.x
+ (sry*srz + cry*crz*srx)*pointOri.y + crx*cry*pointOri.z) * coeff.x
+ ((-cry*crz - srx*sry*srz)*pointOri.x
+ (cry*srz - crz*srx*sry)*pointOri.y - crx*sry*pointOri.z) * coeff.z;
float arz = ((crz*srx*sry - cry*srz)*pointOri.x + (-cry*crz-srx*sry*srz)*pointOri.y)*coeff.x
+ (crx*crz*pointOri.x - crx*srz*pointOri.y) * coeff.y
+ ((sry*srz + cry*crz*srx)*pointOri.x + (crz*sry-cry*srx*srz)*pointOri.y)*coeff.z;
matA.at<float>(i, 0) = arx;
matA.at<float>(i, 1) = ary;
matA.at<float>(i, 2) = arz;
//TODO: the partial derivative
matA.at<float>(i, 3) = coeff.x;
matA.at<float>(i, 4) = coeff.y;
matA.at<float>(i, 5) = coeff.z;
matB.at<float>(i, 0) = -coeff.intensity;
debug_distance += fabs(coeff.intensity);
}
cv::transpose(matA, matAt);
matAtA = matAt * matA;
matAtB = matAt * matB;
cv::solve(matAtA, matAtB, matX, cv::DECOMP_QR);
//Deterioration judgment
if (iterCount == 0) {
cv::Mat matE(1, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matV(6, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matV2(6, 6, CV_32F, cv::Scalar::all(0));
cv::eigen(matAtA, matE, matV);
matV.copyTo(matV2);
isDegenerate = false;
float eignThre[6] = {1, 1, 1, 1, 1, 1};
for (int i = 5; i >= 0; i--) {
if (matE.at<float>(0, i) < eignThre[i]) {
for (int j = 0; j < 6; j++) {
matV2.at<float>(i, j) = 0;
}