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#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/navigation/GPSFactor.h>
#include <gtsam/navigation/ImuFactor.h>
#include <gtsam/navigation/CombinedImuFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ISAM2.h>
using namespace gtsam;
using symbol_shorthand::X; // Pose3 (x,y,z,r,p,y)
using symbol_shorthand::V; // Vel (xdot,ydot,zdot)
using symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz)
using symbol_shorthand::G; // GPS pose
/*
* A point cloud type that has 6D pose info ([x,y,z,roll,pitch,yaw] intensity is time stamp)
*/
struct PointXYZIRPYT
{
PCL_ADD_POINT4D
PCL_ADD_INTENSITY; // preferred way of adding a XYZ+padding
float roll;
float pitch;
float yaw;
double time;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
} EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment
POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIRPYT,
(float, x, x) (float, y, y)
(float, z, z) (float, intensity, intensity)
(float, roll, roll) (float, pitch, pitch) (float, yaw, yaw)
(double, time, time))
typedef PointXYZIRPYT PointTypePose;
class mapOptimization : public ParamServer
{
public:
// gtsam
NonlinearFactorGraph gtSAMgraph;
Values initialEstimate;
Values optimizedEstimate;
ISAM2 *isam;
Values isamCurrentEstimate;
Eigen::MatrixXd poseCovariance;
ros::Publisher pubLaserCloudSurround;
ros::Publisher pubLaserOdometryGlobal;
ros::Publisher pubLaserOdometryIncremental;
ros::Publisher pubKeyPoses;
ros::Publisher pubPath;
ros::Publisher pubHistoryKeyFrames;
ros::Publisher pubIcpKeyFrames;
ros::Publisher pubRecentKeyFrames;
ros::Publisher pubRecentKeyFrame;
ros::Publisher pubCloudRegisteredRaw;
std::deque<nav_msgs::Odometry> gpsQueue;
lio_sam::cloud_info cloudInfo;
vector<pcl::PointCloud<PointType>::Ptr> cornerCloudKeyFrames;
vector<pcl::PointCloud<PointType>::Ptr> surfCloudKeyFrames;
pcl::PointCloud<PointType>::Ptr cloudKeyPoses3D;
pcl::PointCloud<PointTypePose>::Ptr cloudKeyPoses6D;
pcl::PointCloud<PointType>::Ptr copy_cloudKeyPoses3D;
pcl::PointCloud<PointTypePose>::Ptr copy_cloudKeyPoses6D;
pcl::PointCloud<PointType>::Ptr laserCloudCornerLast; // corner feature set from odoOptimization
pcl::PointCloud<PointType>::Ptr laserCloudSurfLast; // surf feature set from odoOptimization
pcl::PointCloud<PointType>::Ptr laserCloudCornerLastDS; // downsampled corner featuer set from odoOptimization
pcl::PointCloud<PointType>::Ptr laserCloudSurfLastDS; // downsampled surf featuer set from odoOptimization
pcl::PointCloud<PointType>::Ptr laserCloudOri;
pcl::PointCloud<PointType>::Ptr coeffSel;
std::vector<PointType> laserCloudOriCornerVec; // corner point holder for parallel computation
std::vector<PointType> coeffSelCornerVec;
std::vector<bool> laserCloudOriCornerFlag;
std::vector<PointType> laserCloudOriSurfVec; // surf point holder for parallel computation
std::vector<PointType> coeffSelSurfVec;
std::vector<bool> laserCloudOriSurfFlag;
map<int, pair<pcl::PointCloud<PointType>, pcl::PointCloud<PointType>>> laserCloudMapContainer;
pcl::PointCloud<PointType>::Ptr laserCloudCornerFromMap;
pcl::PointCloud<PointType>::Ptr laserCloudSurfFromMap;
pcl::PointCloud<PointType>::Ptr laserCloudCornerFromMapDS;
pcl::PointCloud<PointType>::Ptr laserCloudSurfFromMapDS;
pcl::KdTreeFLANN<PointType>::Ptr kdtreeCornerFromMap;
pcl::KdTreeFLANN<PointType>::Ptr kdtreeSurfFromMap;
pcl::KdTreeFLANN<PointType>::Ptr kdtreeSurroundingKeyPoses;
pcl::KdTreeFLANN<PointType>::Ptr kdtreeHistoryKeyPoses;
pcl::VoxelGrid<PointType> downSizeFilterCorner;
pcl::VoxelGrid<PointType> downSizeFilterSurf;
pcl::VoxelGrid<PointType> downSizeFilterICP;
pcl::VoxelGrid<PointType> downSizeFilterSurroundingKeyPoses; // for surrounding key poses of scan-to-map optimization
ros::Time timeLaserInfoStamp;
int laserCloudCornerFromMapDSNum = 0;
int laserCloudSurfFromMapDSNum = 0;
int laserCloudCornerLastDSNum = 0;
int laserCloudSurfLastDSNum = 0;
bool aLoopIsClosed = false;
map<int, int> loopIndexContainer; // from new to old
vector<pair<int, int>> loopIndexQueue;
vector<gtsam::Pose3> loopPoseQueue;
vector<gtsam::noiseModel::Diagonal::shared_ptr> loopNoiseQueue;
nav_msgs::Path globalPath;
Eigen::Affine3f transPointAssociateToMap;
Eigen::Affine3f incrementalOdometryAffineFront;
Eigen::Affine3f incrementalOdometryAffineBack;
mapOptimization()
{
ISAM2Params parameters;
parameters.relinearizeThreshold = 0.1;
parameters.relinearizeSkip = 1;
isam = new ISAM2(parameters);
pubKeyPoses = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/trajectory", 1);
pubLaserCloudSurround = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/map_global", 1);
pubLaserOdometryGlobal = nh.advertise<nav_msgs::Odometry> ("lio_sam/mapping/odometry", 1);
pubLaserOdometryIncremental = nh.advertise<nav_msgs::Odometry> ("lio_sam/mapping/odometry_incremental", 1);
pubPath = nh.advertise<nav_msgs::Path>("lio_sam/mapping/path", 1);
subCloud = nh.subscribe<lio_sam::cloud_info>("lio_sam/feature/cloud_info", 1, &mapOptimization::laserCloudInfoHandler, this, ros::TransportHints().tcpNoDelay());
subGPS = nh.subscribe<nav_msgs::Odometry> (gpsTopic, 200, &mapOptimization::gpsHandler, this, ros::TransportHints().tcpNoDelay());
subLoop = nh.subscribe<std_msgs::Float64MultiArray>("lio_loop/loop_closure_detection", 1, &mapOptimization::loopInfoHandler, this, ros::TransportHints().tcpNoDelay());
srvSaveMap = nh.advertiseService("lio_sam/save_map", &mapOptimization::saveMapService, this);
pubHistoryKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/icp_loop_closure_history_cloud", 1);
pubIcpKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/icp_loop_closure_corrected_cloud", 1);
pubLoopConstraintEdge = nh.advertise<visualization_msgs::MarkerArray>("/lio_sam/mapping/loop_closure_constraints", 1);
pubRecentKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/map_local", 1);
pubRecentKeyFrame = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/cloud_registered", 1);
pubCloudRegisteredRaw = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/cloud_registered_raw", 1);
downSizeFilterCorner.setLeafSize(mappingCornerLeafSize, mappingCornerLeafSize, mappingCornerLeafSize);
downSizeFilterSurf.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
downSizeFilterICP.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
downSizeFilterSurroundingKeyPoses.setLeafSize(surroundingKeyframeDensity, surroundingKeyframeDensity, surroundingKeyframeDensity); // for surrounding key poses of scan-to-map optimization
allocateMemory();
}
void allocateMemory()
{
cloudKeyPoses3D.reset(new pcl::PointCloud<PointType>());
cloudKeyPoses6D.reset(new pcl::PointCloud<PointTypePose>());
copy_cloudKeyPoses3D.reset(new pcl::PointCloud<PointType>());
copy_cloudKeyPoses6D.reset(new pcl::PointCloud<PointTypePose>());
kdtreeSurroundingKeyPoses.reset(new pcl::KdTreeFLANN<PointType>());
kdtreeHistoryKeyPoses.reset(new pcl::KdTreeFLANN<PointType>());
laserCloudCornerLast.reset(new pcl::PointCloud<PointType>()); // corner feature set from odoOptimization
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