diff --git a/launch/mapping_avia.launch b/launch/mapping_avia.launch
index 64a1deb..6f38467 100644
--- a/launch/mapping_avia.launch
+++ b/launch/mapping_avia.launch
@@ -20,18 +20,18 @@
<param name="edgeb" type="double" value="0.1"/>
<param name="smallp_intersect" type="double" value="172.5"/>
<param name="smallp_ratio" type="double" value="1.2"/>
- <param name="point_filter_num" type="int" value="5"/>
+ <param name="point_filter_num" type="int" value="4"/>
<node pkg="fast_lio" type="loam_feat_extract" name="feature_extract" output="screen"/>
<node pkg="fast_lio" type="loam_laserMapping" name="laserMapping" output="screen">
<param name="map_file_path" type="string" value=" " />
<param name="max_iteration" type="int" value="2" />
<param name="dense_map_enable" type="bool" value="true" />
- <param name="fov_degree" type="double" value="80" />
+ <param name="fov_degree" type="double" value="75" />
<param name="filter_size_corner" type="double" value="0.3" />
<param name="filter_size_surf" type="double" value="0.2" />
<param name="filter_size_map" type="double" value="0.2" />
- <param name="cube_side_length" type="double" value="15" />
+ <param name="cube_side_length" type="double" value="10" />
</node>
<group if="$(arg rviz)">
diff --git a/rviz_cfg/loam_livox.rviz b/rviz_cfg/loam_livox.rviz
index c377629..cd634ff 100644
--- a/rviz_cfg/loam_livox.rviz
+++ b/rviz_cfg/loam_livox.rviz
@@ -217,8 +217,8 @@ Visualization Manager:
- Alpha: 0.20000000298023224
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
- Max Value: -1.7674484252929688
- Min Value: -8.243647575378418
+ Max Value: 0.32742905616760254
+ Min Value: -2.179872751235962
Value: true
Axis: Z
Channel Name: intensity
@@ -664,18 +664,18 @@ Visualization Manager:
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 6.608828544616699
- Y: 3.081573247909546
- Z: -3.704350709915161
+ X: 6.49392557144165
+ Y: -0.4694555699825287
+ Z: -1.3836920261383057
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: -0.17020323872566223
+ Pitch: 0.3497962951660156
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 3.0474979877471924
+ Yaw: 5.425689220428467
Saved: ~
Window Geometry:
Displays:
diff --git a/src/IMU_Processing.hpp b/src/IMU_Processing.hpp
index 5c7e0fa..63cc2c2 100644
--- a/src/IMU_Processing.hpp
+++ b/src/IMU_Processing.hpp
@@ -26,7 +26,7 @@
/// *************Preconfiguration
-#define MAX_INI_COUNT (50)
+#define MAX_INI_COUNT (200)
const bool time_list(PointType &x, PointType &y) {return (x.curvature < y.curvature);};
@@ -216,7 +216,7 @@ void ImuProcess::UndistortPcl(const MeasureGroup &meas, StatesGroup &state_inout
#ifdef DEBUG_PRINT
// fout<<head->header.stamp.toSec()<<" "<<angvel_avr.transpose()<<" "<<acc_avr.transpose()<<std::endl;
- #endif
+ #endif
dt = tail->header.stamp.toSec() - head->header.stamp.toSec();
/* covariance propagation */
@@ -224,7 +224,7 @@ void ImuProcess::UndistortPcl(const MeasureGroup &meas, StatesGroup &state_inout
Eigen::Matrix3d Exp_f = Exp(angvel_avr, dt);
acc_avr_skew<<SKEW_SYM_MATRX(angvel_avr);
- F_x.block<3,3>(0,0) = - Exp_f;
+ F_x.block<3,3>(0,0) = Exp(angvel_avr, - dt);
F_x.block<3,3>(0,9) = - Eye3d * dt;
// F_x.block<3,3>(3,0) = R_imu * off_vel_skew * dt;
F_x.block<3,3>(3,6) = Eye3d * dt;
@@ -290,7 +290,6 @@ void ImuProcess::UndistortPcl(const MeasureGroup &meas, StatesGroup &state_inout
pos_imu<<VEC_FROM_ARRAY(head->pos);
angvel_avr<<VEC_FROM_ARRAY(head->gyr);
- int i = 0;
for(; it_pcl->curvature / double(1000) > head->offset_time; it_pcl --)
{
dt = it_pcl->curvature / double(1000) - head->offset_time;
diff --git a/src/feature_extract.cpp b/src/feature_extract.cpp
index e6b97d9..44822c7 100644
--- a/src/feature_extract.cpp
+++ b/src/feature_extract.cpp
@@ -3,6 +3,8 @@
#include <sensor_msgs/PointCloud2.h>
#include <livox_ros_driver/CustomMsg.h>
+// Feature will be updated in next version
+
typedef pcl::PointXYZINormal PointType;
using namespace std;
ros::Publisher pub_full, pub_surf, pub_corn;
@@ -15,12 +17,11 @@ enum E_jump{Nr_nor, Nr_zero, Nr_180, Nr_inf, Nr_blind};
struct orgtype
{
- double range; // sqrt(x*x+y*y)
- double dista; // 该点与后一个点的距离平方
- double angle[2]; // 前(后)一个点、该点、原点所成角度
- double intersect; // 前后点与该点的夹角
- E_jump edj[2]; // 每个点前后点的关系
- // Surround nor_dir;
+ double range;
+ double dista;
+ double angle[2];
+ double intersect;
+ E_jump edj[2];
Feature ftype;
orgtype()
{
@@ -32,7 +33,6 @@ struct orgtype
}
};
-// const int hor_line = 6;
const double rad2deg = 180*M_1_PI;
int lidar_type;
@@ -63,25 +63,6 @@ int main(int argc, char **argv)
ros::init(argc, argv, "feature_extract");
ros::NodeHandle n;
- // lidar_type = MID;
- // blind = 0.5;
- // inf_bound = 10;
- // // N_SCANS = 1;
- // group_size = 8;
- // disA = 0.01; disB = 0.1;
- // p2l_ratio = 400;
- // limit_maxmid = 9;
- // limit_midmin = 16;
- // // limit_maxmin;
- // jump_up_limit = cos(175.0/180*M_PI);
- // jump_down_limit = cos(5.0/180*M_PI);
- // cos160 = cos(160.0/180*M_PI);
- // edgea = 3; // 2
- // edgeb = 0.05; // 0.1
- // smallp_intersect = cos(170.0/180*M_PI);
- // smallp_ratio = 1.3;
- // point_filter_num = 4;
-
n.param<int>("lidar_type", lidar_type, 0);
n.param<double>("blind", blind, 0.5);
n.param<double>("inf_bound", inf_bound, 10);
@@ -107,75 +88,18 @@ int main(int argc, char **argv)
cos160 = cos(cos160/180*M_PI);
smallp_intersect = cos(smallp_intersect/180*M_PI);
- // lidar_type = HORIZON;
- // blind = 0.5;
- // inf_bound = 10;
- // N_SCANS = 6;
- // group_size = 8;
- // disA = 0.01; disB = 0.1;
- // p2l_ratio = 225;
- // limit_maxmid = 6.25;
- // limit_midmin = 6.25;
- // // limit_maxmin;
- // jump_up_limit = cos(170.0/180*M_PI);
- // jump_down_limit = cos(8.0/180*M_PI);
- // cos160 = cos(160.0/180*M_PI);
- // edgea = 2;
- // edgeb = 0.1;
- // smallp_intersect = cos(170.0/180*M_PI);
- // smallp_ratio = 1.4;
-
- // lidar_type = VELO16;
- // blind = 0.5;
- // inf_bound = 10;
- // N_SCANS = 16;
- // group_size = 9;
- // disA = 0.015; disB = 0.3;
- // p2l_ratio = 400;
- // // limit_maxmid = 9;
- // // limit_midmin = 16;
- // limit_maxmin = 3.24;
- // jump_up_limit = cos(170.0/180*M_PI);
- // jump_down_limit = cos(8.0/180*M_PI);
- // cos160 = cos(160.0/180*M_PI);
- // edgea = 2; // 2
- // edgeb = 0.1; // 0.1
- // smallp_intersect = cos(170.0/180*M_PI);
- // smallp_ratio = 1.4;
-
- // lidar_type = OUST64; // lidar的种类
- // blind = 0.5; // lidar的盲区（非平方）
- // inf_bound = 10; // 无穷远点最近点的距离限制（非平方）
- // N_SCANS = 64; // 6, 16, 64
- // group_size = 9; // 7->8 9
- // disA = 0.015; // 0.015 // Ax+B
- // disB = 0.3; // 0.3
- // p2l_ratio = 196; // 225 196
- // // limit_maxmid = 9; // 6.25
- // // limit_midmin = 16; // 6.25
- // limit_maxmin = 6.25; // 6.25
- // jump_up_limit = cos(170.0/180*M_PI);
- // jump_down_limit = cos(8.0/180*M_PI);
- // cos160 = cos(160.0/180*M_PI);
- // edgea = 2.5; // 2
- // edgeb = 0.2; // 0.1
- // smallp_intersect = cos(170.0/180*M_PI);
- // smallp_ratio = 1.4;
-
-
ros::Subscriber sub_points;
-
switch(lidar_type)
{
case MID:
- printf("MID40-70\n");
+ printf("MID40\n");
sub_points = n.subscribe("/livox/lidar", 1000, mid_handler);
// sub_points = n.subscribe("/livox/lidar_1LVDG1S006J5GZ3", 1000, mid_handler);
break;
case HORIZON:
- printf("HORIZON_MID70pro\n");
+ printf("HORIZON\n");
sub_points = n.subscribe("/livox/lidar", 1000, horizon_handler);
break;
@@ -195,9 +119,9 @@ int main(int argc, char **argv)
break;
}
- pub_full = n.advertise<sensor_msgs::PointCloud2>("/livox_cloud", 20);
- pub_surf = n.advertise<sensor_msgs::PointCloud2>("/laser_cloud_flat", 20);
- pub_corn = n.advertise<sensor_msgs::PointCloud2>("/laser_cloud_sharp", 20);
+ pub_full = n.advertise<sensor_msgs::PointCloud2>("/laser_cloud", 100);
+ pub_surf = n.advertise<sensor_msgs::PointCloud2>("/laser_cloud_flat", 100);
+ pub_corn = n.advertise<sensor_msgs::PointCloud2>("/laser_cloud_sharp", 100);
ros::spin();
return 0;
@@ -218,7 +142,6 @@ void mid_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
for(uint i=0; i<plsize; i++)
{
- // types[i].range = sqrt(pl[i].x*pl[i].x + pl[i].y*pl[i].y);
types[i].range = pl[i].x;
vx = pl[i].x - pl[i+1].x;
vy = pl[i].y - pl[i+1].y;
@@ -231,17 +154,9 @@ void mid_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
give_feature(pl, types, pl_corn, pl_surf);
ros::Time ct(ros::Time::now());
- pub_func(pl, pub_full, ct);
- pub_func(pl_surf, pub_surf, ct);
- pub_func(pl_corn, pub_corn, ct);
-
- // printf("%u %u %u\n", pl.size(), pl_surf.size(), pl_corn.size());
- // int a; cin >> a;
- // if(a == 0)
- // {
- // exit(0);
- // }
-
+ pub_func(pl, pub_full, msg->header.stamp);
+ pub_func(pl_surf, pub_surf, msg->header.stamp);
+ pub_func(pl_corn, pub_corn, msg->header.stamp);
}
void horizon_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg)
@@ -296,13 +211,110 @@ void horizon_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg)
ros::Time ct;
ct.fromNSec(msg->timebase);
- pub_func(pl_full, pub_full, ct);
- pub_func(pl_surf, pub_surf, ct);
- pub_func(pl_corn, pub_corn, ct);
+ pub_func(pl_full, pub_full, msg->header.stamp);
+ pub_func(pl_surf, pub_surf, msg->header.stamp);
+ pub_func(pl_corn, pub_corn, msg->header.stamp);
std::cout<<"[~~~~~~~~~~~~ Feature Extract ]: time: "<< omp_get_wtime() - t1<<" "<<msg->header.stamp.toSec()<<std::endl;
}
+int orders[16] = {0, 2, 4, 6, 8, 10, 12, 14, 1, 3, 5, 7, 9, 11, 13, 15};
+
void velo16_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
+{
+ pcl::PointCloud<PointType> pl_orig;
+ pcl::fromROSMsg(*msg, pl_orig);
+ uint plsize = pl_orig.size();
+
+ vector<pcl::PointCloud<PointType>> pl_buff(N_SCANS);
+ vector<vector<orgtype>> typess(N_SCANS);
+ pcl::PointCloud<PointType> pl_corn, pl_surf, pl_full;
+
+ int scanID;
+ int last_stat = -1;
+ int idx = 0;
+
+ for(int i=0; i<N_SCANS; i++)
+ {
+ pl_buff[i].resize(plsize);
+ typess[i].resize(plsize);
+ }
+
+ for(uint i=0; i<plsize; i++)
+ {
+ PointType &ap = pl_orig[i];
+ double leng = sqrt(ap.x*ap.x + ap.y*ap.y);
+ if(leng < blind)
+ {
+ continue;
+ }
+
+ double ang = atan(ap.z / leng)*rad2deg;
+ scanID = int((ang + 15) / 2 + 0.5);
+
+ if(scanID>=N_SCANS || scanID<0)
+ {
+ continue;
+ }
+
+ if(orders[scanID] <= last_stat)
+ {
+ idx++;
+ }
+
+ pl_buff[scanID][idx].x = ap.x;
+ pl_buff[scanID][idx].y = ap.y;
+ pl_buff[scanID][idx].z = ap.z;
+ pl_buff[scanID][idx].intensity = ap.intensity;
+ typess[scanID][idx].range = leng;
+ last_stat = orders[scanID];
+ }
+
+ // for(int i=0; i<N_SCANS; i++)
+ // {
+ // pl_full += pl_buff[i];
+ // pub_func(pl_buff[i], pub_full, msg->header.stamp);
+ // }
+
+
+ // for(int i=0; i<10; i++)
+ // {
+ // printf("%f %f %f\n", pl_buff[0][i].x, pl_buff[0][i].y, pl_buff[0][i].z);
+ // }
+ // cout << endl;
+
+ idx++;
+
+ for(int j=0; j<N_SCANS; j++)
+ {
+ pcl::PointCloud<PointType> &pl = pl_buff[j];
+ vector<orgtype> &types = typess[j];
+ pl.erase(pl.begin()+idx, pl.end());
+ types.erase(types.begin()+idx, types.end());
+ plsize = idx - 1;
+ for(uint i=0; i<plsize; i++)
+ {
+ // types[i].range = sqrt(pl[i].x*pl[i].x + pl[i].y*pl[i].y);
+ vx = pl[i].x - pl[i+1].x;
+ vy = pl[i].y - pl[i+1].y;
+ vz = pl[i].z - pl[i+1].z;
+ types[i].dista = vx*vx + vy*vy + vz*vz;
+ }
+
+ types[plsize].range = sqrt(pl[plsize].x*pl[plsize].x + pl[plsize].y*pl[plsize].y);
+
+ give_feature(pl, types, pl_corn, pl_surf);
+ }
+
+ // printf("%zu %zu\n", pl_surf.size(), pl_corn.size());
+
+ pub_func(pl_orig, pub_full, msg->header.stamp);
+ pub_func(pl_surf, pub_surf, msg->header.stamp);
+ pub_func(pl_corn, pub_corn, msg->header.stamp);
+
+}
+
+
+void velo16_handler1(const sensor_msgs::PointCloud2::ConstPtr &msg)
{
pcl::PointCloud<PointType> pl_orig;
pcl::fromROSMsg(*msg, pl_orig);
@@ -354,6 +366,41 @@ void velo16_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
stat = 0;
}
}
+
+ // idx = 0;
+ // int last_stat = -1;
+ // for(uint i=0; i<plsize; i++)
+ // {
+ // PointType &ap = pl_orig[i];
+ // // pl_full.push_back(ap);
+ // double leng = sqrt(ap.x*ap.x + ap.y*ap.y);
+ // if(leng < blind)
+ // {
+ // continue;
+ // }
+
+ // double ang = atan(ap.z / leng)*rad2deg;
+ // scanID = int((ang + 15) / 2 + 0.5);
+
+ // if(scanID>=N_SCANS || scanID<0)
+ // {
+ // continue;
+ // }
+
+ // if(orders[scanID] <= last_stat)
+ // {
+ // idx++;
+ // }
+
+ // pl_buff[scanID][idx].x = ap.x;
+ // pl_buff[scanID][idx].y = ap.y;
+ // pl_buff[scanID][idx].z = ap.z;
+ // pl_buff[scanID][idx].intensity = ap.intensity;
+
+ // last_stat = orders[scanID];
+ // }
+
+
idx++;
@@ -374,13 +421,13 @@ void velo16_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
}
types[plsize].range = sqrt(pl[plsize].x*pl[plsize].x + pl[plsize].y*pl[plsize].y);
+
give_feature(pl, types, pl_corn, pl_surf);
}
- ros::Time ct(ros::Time::now());
- pub_func(pl_full, pub_full, ct);
- pub_func(pl_surf, pub_surf, ct);
- pub_func(pl_corn, pub_corn, ct);
+ pub_func(pl_full, pub_full, msg->header.stamp);
+ pub_func(pl_surf, pub_surf, msg->header.stamp);
+ pub_func(pl_corn, pub_corn, msg->header.stamp);
}
void oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
@@ -398,7 +445,6 @@ void oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
for(int i=0; i<N_SCANS; i++)
{
pl_buff[i].reserve(plsize);
- // typess[i].reserve(plsize);
}
for(uint i=0; i<plsize; i+=N_SCANS)
@@ -427,10 +473,9 @@ void oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
give_feature(pl, types, pl_corn, pl_surf);
}
- ros::Time ct(ros::Time::now());
- pub_func(pl_orig, pub_full, ct);
- pub_func(pl_surf, pub_surf, ct);
- pub_func(pl_corn, pub_corn, ct);
+ pub_func(pl_orig, pub_full, msg->header.stamp);
+ pub_func(pl_surf, pub_surf, msg->header.stamp);
+ pub_func(pl_corn, pub_corn, msg->header.stamp);
}
@@ -444,12 +489,13 @@ void give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &types, pcl::P
return;
}
uint head = 0;
+
while(types[head].range < blind)
{
head++;
}
- // 平面点检测
+ // Surf
plsize2 = plsize - group_size;
Eigen::Vector3d curr_direct(Eigen::Vector3d::Zero());
@@ -457,7 +503,6 @@ void give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &types, pcl::P
uint i_nex, i2;
uint last_i = 0; uint last_i_nex = 0;
- // 0:上次状态无用 1:上次为平面组
int last_state = 0;
int plane_type;
@@ -511,12 +556,12 @@ void give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &types, pcl::P
{
if(last_state == 1)
{
- uint i_nex_tem; // 临时变量
+ uint i_nex_tem;
uint j;
for(j=last_i+1; j<=last_i_nex; j++)
{
uint i_nex_tem2 = i_nex_tem;
- Eigen::Vector3d curr_direct2; // curr_direct临时变量
+ Eigen::Vector3d curr_direct2;
uint ttem = plane_judge(pl, types, j, i_nex_tem, curr_direct2);
@@ -561,100 +606,100 @@ void give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &types, pcl::P
}
plsize2 = plsize - 3;
- // for(uint i=head+3; i<plsize2; i++)
- // {
- // if(types[i].range<blind || types[i].ftype>=Real_Plane)
- // {
- // continue;
- // }
+ for(uint i=head+3; i<plsize2; i++)
+ {
+ if(types[i].range<blind || types[i].ftype>=Real_Plane)
+ {
+ continue;
+ }
- // if(types[i-1].dista<1e-16 || types[i].dista<1e-16)
- // {
- // continue;
- // }
+ if(types[i-1].dista<1e-16 || types[i].dista<1e-16)
+ {
+ continue;
+ }
- // Eigen::Vector3d vec_a(pl[i].x, pl[i].y, pl[i].z);
- // Eigen::Vector3d vecs[2];
+ Eigen::Vector3d vec_a(pl[i].x, pl[i].y, pl[i].z);
+ Eigen::Vector3d vecs[2];
- // for(int j=0; j<2; j++)
- // {
- // int m = -1;
- // if(j == 1)
- // {
- // m = 1;
- // }
+ for(int j=0; j<2; j++)
+ {
+ int m = -1;
+ if(j == 1)
+ {
+ m = 1;
+ }
- // if(types[i+m].range < blind)
- // {
- // if(types[i].range > inf_bound)
- // {
- // types[i].edj[j] = Nr_inf;
- // }
- // else
- // {
- // types[i].edj[j] = Nr_blind;
- // }
- // continue;
- // }
+ if(types[i+m].range < blind)
+ {
+ if(types[i].range > inf_bound)
+ {
+ types[i].edj[j] = Nr_inf;
+ }
+ else
+ {
+ types[i].edj[j] = Nr_blind;
+ }
+ continue;
+ }
- // vecs[j] = Eigen::Vector3d(pl[i+m].x, pl[i+m].y, pl[i+m].z);
- // vecs[j] = vecs[j] - vec_a;
+ vecs[j] = Eigen::Vector3d(pl[i+m].x, pl[i+m].y, pl[i+m].z);
+ vecs[j] = vecs[j] - vec_a;
- // types[i].angle[j] = vec_a.dot(vecs[j]) / vec_a.norm() / vecs[j].norm();
- // if(types[i].angle[j] < jump_up_limit)
- // {
- // types[i].edj[j] = Nr_180;
- // }
- // else if(types[i].angle[j] > jump_down_limit)
- // {
- // types[i].edj[j] = Nr_zero;
- // }
- // }
+ types[i].angle[j] = vec_a.dot(vecs[j]) / vec_a.norm() / vecs[j].norm();
+ if(types[i].angle[j] < jump_up_limit)
+ {
+ types[i].edj[j] = Nr_180;
+ }
+ else if(types[i].angle[j] > jump_down_limit)
+ {
+ types[i].edj[j] = Nr_zero;
+ }
+ }
- // types[i].intersect = vecs[Prev].dot(vecs[Next]) / vecs[Prev].norm() / vecs[Next].norm();
- // if(types[i].edj[Prev]==Nr_nor && types[i].edj[Next]==Nr_zero && types[i].dista>0.0225 && types[i].dista>4*types[i-1].dista)
- // {
- // if(types[i].intersect > cos160)
- // {
- // if(edge_jump_judge(pl, types, i, Prev))
- // {
- // types[i].ftype = Edge_Jump;
- // }
- // }
- // }
- // else if(types[i].edj[Prev]==Nr_zero && types[i].edj[Next]== Nr_nor && types[i-1].dista>0.0225 && types[i-1].dista>4*types[i].dista)
- // {
- // if(types[i].intersect > cos160)
- // {
- // if(edge_jump_judge(pl, types, i, Next))
- // {
- // types[i].ftype = Edge_Jump;
- // }
- // }
- // }
- // else if(types[i].edj[Prev]==Nr_nor && types[i].edj[Next]==Nr_inf)
- // {
- // if(edge_jump_judge(pl, types, i, Prev))
- // {
- // types[i].ftype = Edge_Jump;
- // }
- // }
- // else if(types[i].edj[Prev]==Nr_inf && types[i].edj[Next]==Nr_nor)
- // {
- // if(edge_jump_judge(pl, types, i, Next))
- // {
- // types[i].ftype = Edge_Jump;
- // }
+ types[i].intersect = vecs[Prev].dot(vecs[Next]) / vecs[Prev].norm() / vecs[Next].norm();
+ if(types[i].edj[Prev]==Nr_nor && types[i].edj[Next]==Nr_zero && types[i].dista>0.0225 && types[i].dista>4*types[i-1].dista)
+ {
+ if(types[i].intersect > cos160)
+ {
+ if(edge_jump_judge(pl, types, i, Prev))
+ {
+ types[i].ftype = Edge_Jump;
+ }
+ }
+ }
+ else if(types[i].edj[Prev]==Nr_zero && types[i].edj[Next]== Nr_nor && types[i-1].dista>0.0225 && types[i-1].dista>4*types[i].dista)
+ {
+ if(types[i].intersect > cos160)
+ {
+ if(edge_jump_judge(pl, types, i, Next))
+ {
+ types[i].ftype = Edge_Jump;
+ }
+ }
+ }
+ else if(types[i].edj[Prev]==Nr_nor && types[i].edj[Next]==Nr_inf)
+ {
+ if(edge_jump_judge(pl, types, i, Prev))
+ {
+ types[i].ftype = Edge_Jump;
+ }
+ }
+ else if(types[i].edj[Prev]==Nr_inf && types[i].edj[Next]==Nr_nor)
+ {
+ if(edge_jump_judge(pl, types, i, Next))
+ {
+ types[i].ftype = Edge_Jump;
+ }
- // }
- // else if(types[i].edj[Prev]>Nr_nor && types[i].edj[Next]>Nr_nor)
- // {
- // if(types[i].ftype == Nor)
- // {
- // types[i].ftype = Wire;
- // }
- // }
- // }
+ }
+ else if(types[i].edj[Prev]>Nr_nor && types[i].edj[Next]>Nr_nor)
+ {
+ if(types[i].ftype == Nor)
+ {
+ types[i].ftype = Wire;
+ }
+ }
+ }
plsize2 = plsize-1;
double ratio;
@@ -696,81 +741,84 @@ void give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &types, pcl::P
}
}
- int last_surface = 0;
- for(uint i=0; i<plsize; i++)
- {
- if(types[i].ftype==Poss_Plane || types[i].ftype==Real_Plane)
- {
- if(last_surface == 0)
- {
- pl_surf.push_back(pl[i]);
- last_surface = 1;
- }
- else
- {
- last_surface = 0;
- }
-
- }
- else if(types[i].ftype==Edge_Jump || types[i].ftype==Edge_Plane)
- {
- pl_corn.push_back(pl[i]);
- }
-
- }
- // int last_surface = -1;
-
- // for(uint j=head; j<plsize; j++)
+ // int last_surface = 0;
+ // for(uint i=0; i<plsize; i++)
// {
- // if(types[j].ftype==Poss_Plane || types[j].ftype==Real_Plane)
+ // if(types[i].ftype==Poss_Plane || types[i].ftype==Real_Plane)
// {
- // if(last_surface == -1)
+ // if(last_surface == 0)
// {
- // last_surface = j;
+ // pl_surf.push_back(pl[i]);
+ // last_surface = 1;
// }
- // else if(j == (last_surface+point_filter_num-1))
+ // else
// {
- // PointType ap;
- // for(uint k=last_surface; k<=j; k++)
- // {
- // ap.x += pl[k].x;
- // ap.y += pl[k].y;
- // ap.z += pl[k].z;
- // }
- // ap.x /= point_filter_num;
- // ap.y /= point_filter_num;
- // ap.z /= point_filter_num;
- // pl_surf.push_back(ap);
- // // printf("%d-%d: %lf %lf %lf\n", last_surface, j, ap.x, ap.y, ap.z);
- // last_surface = -1;
+ // last_surface = 0;
// }
+
// }
- // else
+ // else if(types[i].ftype==Edge_Jump || types[i].ftype==Edge_Plane)
// {
- // if(types[j].ftype==Edge_Jump || types[j].ftype==Edge_Plane)
- // {
- // pl_corn.push_back(pl[j]);
- // }
- // if(last_surface != -1)
- // {
- // PointType ap;
- // for(uint k=last_surface; k<j; k++)
- // {
- // ap.x += pl[k].x;
- // ap.y += pl[k].y;
- // ap.z += pl[k].z;
- // }
- // ap.x /= (j-last_surface);
- // ap.y /= (j-last_surface);
- // ap.z /= (j-last_surface);
- // pl_surf.push_back(ap);
- // // printf("%d-%d: %lf %lf %lf\n", last_surface, j-1, ap.x, ap.y, ap.z);
- // }
- // last_surface = -1;
+ // pl_corn.push_back(pl[i]);
// }
+
// }
+ int last_surface = -1;
+ for(uint j=head; j<plsize; j++)
+ {
+ if(types[j].ftype==Poss_Plane || types[j].ftype==Real_Plane)
+ {
+ if(last_surface == -1)
+ {
+ last_surface = j;
+ }
+
+ if(j == uint(last_surface+point_filter_num-1))
+ {
+ PointType ap;
+ for(uint k=last_surface; k<=j; k++)
+ {
+ ap.x += pl[k].x;
+ ap.y += pl[k].y;
+ ap.z += pl[k].z;
+ ap.curvature += pl[k].curvature;
+ }
+ ap.x /= point_filter_num;
+ ap.y /= point_filter_num;
+ ap.z /= point_filter_num;
+ ap.curvature /= point_filter_num;
+ pl_surf.push_back(ap);
+ // printf("%d-%d: %lf %lf %lf\n", last_surface, j, ap.x, ap.y, ap.z);
+ last_surface = -1;
+ }
+ }
+ else
+ {
+ if(types[j].ftype==Edge_Jump || types[j].ftype==Edge_Plane)
+ {
+ pl_corn.push_back(pl[j]);
+ }
+ if(last_surface != -1)
+ {
+ PointType ap;
+ for(uint k=last_surface; k<j; k++)
+ {
+ ap.x += pl[k].x;
+ ap.y += pl[k].y;
+ ap.z += pl[k].z;
+ ap.curvature += pl[k].curvature;
+ }
+ ap.x /= (j-last_surface);
+ ap.y /= (j-last_surface);
+ ap.z /= (j-last_surface);
+ ap.curvature /= (j-last_surface);
+ pl_surf.push_back(ap);
+ }
+ last_surface = -1;
+ }
+ }
}
@@ -936,153 +984,4 @@ bool edge_jump_judge(const pcl::PointCloud<PointType> &pl, vector<orgtype> &type
}
-int plane_judge1(const pcl::PointCloud<PointType> &pl, vector<orgtype> &types, uint i, uint &i_nex, Eigen::Vector3d &curr_direct)
-{
- double group_dis = 0.01*pl[i].x + 0.1;
- group_dis = group_dis*group_dis;
-
- double two_dis;
- vector<double> disarr;
- disarr.reserve(128);
-
- for(i_nex=i; i_nex<i+group_size; i_nex++)
- {
- if(pl[i_nex].x < blind)
- {
- curr_direct = Eigen::Vector3d::Zero();
- return 2;
- }
- disarr.push_back(types[i_nex].dista);
- }
- for(;;)
- {
- if(pl[i_nex].x < blind)
- {
- curr_direct = Eigen::Vector3d::Zero();
- return 2;
- }
-
- vx = pl[i_nex].x - pl[i].x;
- vy = pl[i_nex].y - pl[i].y;
- vz = pl[i_nex].z - pl[i].z;
- two_dis = vx*vx + vy*vy + vz*vz;
- if(two_dis >= group_dis)
- {
- break;
- }
- disarr.push_back(types[i_nex].dista);
- i_nex++;
- }
-
-
- double leng_wid = 0;
- double v1[3], v2[3];
- for(uint j=i+1; j<i_nex; j++)
- {
- v1[0] = pl[j].x - pl[i].x;
- v1[1] = pl[j].y - pl[i].y;
- v1[2] = pl[j].z - pl[i].z;
-
- v2[0] = v1[1]*vz - vy*v1[2];
- v2[1] = v1[2]*vx - v1[0]*vz;
- v2[2] = v1[0]*vy - vx*v1[1];
-
- double lw = v2[0]*v2[0] + v2[1]*v2[1] + v2[2]*v2[2];
- if(lw > leng_wid)
- {
- leng_wid = lw;
- }
- }
-
- // if((two_dis*two_dis/leng_wid) <= 225)
- if((two_dis*two_dis/leng_wid) <= 400)
- {
- curr_direct = Eigen::Vector3d::Zero();
- return 0;
- }
-
- // 寻找中位数(不是准确的中位数，有点偏差)
- for(uint32_t j=0; j<disarr.size()-1; j++)
- {
- for(uint32_t k=j+1; k<disarr.size(); k++)
- {
- if(disarr[j] < disarr[k])
- {
- double a = disarr[j];
- disarr[j] = disarr[k];
- disarr[k] = a;
- }
- }
- }
-
- if(disarr[disarr.size()-2] < 1e-16)
- {
- // printf("!!!!two points are the same(at least two groups)\n");
- // exit(0);
- return 0;
- }
-
- double dismax_mid = disarr[0]/disarr[disarr.size()/2];
- double dismid_min = disarr[disarr.size()/2]/disarr[disarr.size()-2];
-
- if(dismax_mid>=9 || dismid_min>=16)
- {
- curr_direct = Eigen::Vector3d::Zero();
- return 0;
- }
-
- curr_direct << vx, vy, vz;
- curr_direct.normalize();
- return 1;
-}
-
-bool edge_jump_judge1(const pcl::PointCloud<PointType> &pl, vector<orgtype> &types, uint i, Surround nor_dir)
-{
- // if(nor_dir == 0)
- // {
- // if(pl[i-1].x<blind)
- // {
- // return true;
- // }
- // else if(pl[i-2].x<blind)
- // {
- // return false;
- // }
- // }
- // else if(nor_dir == 1)
- // {
- // if(pl[i+1].x<blind)
- // {
- // return true;
- // }
- // else if(pl[i+2].x<blind)
- // {
- // return false;
- // }
- // }
- double d1 = types[i+nor_dir-1].dista;
- double d2 = types[i+3*nor_dir-2].dista;
- double d;
-
- if(d1<d2)
- {
- d = d1;
- d1 = d2;
- d2 = d;
- }
-
- d1 = sqrt(d1);
- d2 = sqrt(d2);
-
- if(d1>0.05)
- {
- if(d1>3*d2 || (d1-d2)>0.05)
- {
- return false;
- }
- }
- return true;
-}
-
-
diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp
index 474039e..59b4f9a 100644
--- a/src/laserMapping.cpp
+++ b/src/laserMapping.cpp
@@ -82,6 +82,7 @@ int laserCloudValidInd[250];
int laserCloudSurroundInd[250];
int laserCloudValidNum = 0;
int laserCloudSurroundNum = 0;
+int laserCloudSelNum = 0;
const int laserCloudWidth = 42;
const int laserCloudHeight = 22;
@@ -425,7 +426,6 @@ void lasermap_fov_segment()
if (isInLaserFOV)
{
-
laserCloudValidInd[laserCloudValidNum] = i + laserCloudWidth * j
+ laserCloudWidth * laserCloudHeight * k;
laserCloudValidNum ++;
@@ -533,14 +533,12 @@ int main(int argc, char** argv)
ros::Subscriber sub_pcl = nh.subscribe("/laser_cloud_flat", 20000, feat_points_cbk);
ros::Subscriber sub_imu = nh.subscribe("/livox/imu", 20000, imu_cbk);
- // ros::Subscriber subLaserCloudSurfLast = nh.subscribe<sensor_msgs::PointCloud2>
- // ("/livox_undistort", 100, featsLastHandler);
ros::Publisher pubLaserCloudFullRes = nh.advertise<sensor_msgs::PointCloud2>
("/cloud_registered", 100);
+ ros::Publisher pubLaserCloudEffect = nh.advertise<sensor_msgs::PointCloud2>
+ ("/cloud_effected", 100);
ros::Publisher pubLaserCloudMap = nh.advertise<sensor_msgs::PointCloud2>
("/Laser_map", 100);
- // ros::Publisher pubSolvedPose6D = nh.advertise<fast_lio::States>
- // ("/States_updated", 100);
ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry>
("/aft_mapped_to_init", 10);
@@ -711,7 +709,7 @@ int main(int argc, char** argv)
{
/** Find the closest surface/line in the map **/
kdtreeSurfFromMap->nearestKSearch(pointSel_tmpt, NUM_MATCH_POINTS, points_near, pointSearchSqDis_surf);
- if (pointSearchSqDis_surf[NUM_MATCH_POINTS - 1] < 3.0)
+ if (pointSearchSqDis_surf[NUM_MATCH_POINTS - 1] < 3)
{
point_selected_surf[i] = true;
}
@@ -773,13 +771,13 @@ int main(int argc, char** argv)
//if(fabs(pd2) > 0.1) continue;
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));
- if (s > 0.1)
+ if (s > 0.92)
{
point_selected_surf[i] = true;
- coeffSel_tmpt->points[i].x = s * pa;
- coeffSel_tmpt->points[i].y = s * pb;
- coeffSel_tmpt->points[i].z = s * pc;
- coeffSel_tmpt->points[i].intensity = s * pd2;
+ coeffSel_tmpt->points[i].x = pa;
+ coeffSel_tmpt->points[i].y = pb;
+ coeffSel_tmpt->points[i].z = pc;
+ coeffSel_tmpt->points[i].intensity = pd2;
}
else
{
@@ -794,7 +792,7 @@ int main(int argc, char** argv)
for (int i = 0; i < coeffSel_tmpt->points.size(); i++)
{
float error_abs = std::abs(coeffSel_tmpt->points[i].intensity);
- if (point_selected_surf[i] && (error_abs < 0.5))
+ if (point_selected_surf[i])
{
laserCloudOri->push_back(feats_down->points[i]);
coeffSel->push_back(coeffSel_tmpt->points[i]);
@@ -802,7 +800,7 @@ int main(int argc, char** argv)
}
}
- int laserCloudSelNum = laserCloudOri->points.size();
+ laserCloudSelNum = laserCloudOri->points.size();
double ave_residual = total_residual / laserCloudSelNum;
// ave_res_last
@@ -886,14 +884,13 @@ int main(int argc, char** argv)
euler_cur = RotMtoEuler(state.rot_end);
#ifdef DEBUG_PRINT
- // std::cout<<"solution: "<<solution.transpose()<<std::endl;
std::cout<<"update: R"<<euler_cur.transpose()*57.3<<" p "<<state.pos_end.transpose()<<" v "<<state.vel_end.transpose()<<" bg"<<state.bias_g.transpose()<<" ba"<<state.bias_a.transpose()<<std::endl;
std::cout<<"dR & dT: "<<deltaR<<" "<<deltaT<<" res norm:"<<ave_residual<<std::endl;
#endif
/*** Rematch Judgement ***/
rematch_en = false;
- if ((deltaR < 0.07 && deltaT < 0.015))
+ if ((deltaR < 0.01 && deltaT < 0.015) || ((rematch_num == 0) && (iterCount == (NUM_MAX_ITERATIONS - 2))))
{
rematch_en = true;
rematch_num ++;
@@ -907,7 +904,6 @@ int main(int argc, char** argv)
/*** Covariance Update ***/
G.block<DIM_OF_STATES,6>(0,0) = K * Hsub;
state.cov = (I_STATE - G) * state.cov;
- // std::cout<<"propagated cov: "<<state.cov.diagonal().transpose()<<std::endl;
}
solve_time += omp_get_wtime() - solve_start;
break;
@@ -951,15 +947,15 @@ int main(int argc, char** argv)
}
t3 = omp_get_wtime();
- /******* Publish current frame points in world coordinates: *******/
+ /******* Publish current frame points in world coordinates: *******/
laserCloudFullRes2->clear();
*laserCloudFullRes2 = dense_map_en ? (*feats_undistort) : (* feats_down);
- // *laserCloudFullRes2 = dense_map_en ? (*laserCloudFullRes) : (* feats_down);
int laserCloudFullResNum = laserCloudFullRes2->points.size();
-
+
pcl::PointXYZRGB temp_point;
laserCloudFullResColor->clear();
+ {
for (int i = 0; i < laserCloudFullResNum; i++)
{
RGBpointBodyToWorld(&laserCloudFullRes2->points[i], &temp_point);
@@ -971,6 +967,23 @@ int main(int argc, char** argv)
laserCloudFullRes3.header.stamp = ros::Time::now();//.fromSec(last_timestamp_lidar);
laserCloudFullRes3.header.frame_id = "/camera_init";
pubLaserCloudFullRes.publish(laserCloudFullRes3);
+ }
+
+ /******* Publish Effective points *******/
+ // {
+ // laserCloudFullResColor->clear();
+ // pcl::PointXYZRGB temp_point;
+ // for (int i = 0; i < laserCloudSelNum; i++)
+ // {
+ // RGBpointBodyToWorld(&laserCloudOri->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.frame_id = "/camera_init";
+ // pubLaserCloudEffect.publish(laserCloudFullRes3);
+ // }
/******* Publish Maps: *******/
// sensor_msgs::PointCloud2 laserCloudMap;