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mapOptmization.cpp 69.1 KiB
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                        coeffSelCornerVec[i] = coeff;
                        laserCloudOriCornerFlag[i] = true;
                    }
                }
            }
        }
    }

    void surfOptimization()
    {
        updatePointAssociateToMap();

        #pragma omp parallel for num_threads(numberOfCores)
        for (int i = 0; i < laserCloudSurfLastDSNum; i++)
        {
            PointType pointOri, pointSel, coeff;
            std::vector<int> pointSearchInd;
            std::vector<float> pointSearchSqDis;

            pointOri = laserCloudSurfLastDS->points[i];
            pointAssociateToMap(&pointOri, &pointSel); 
            kdtreeSurfFromMap->nearestKSearch(pointSel, 5, pointSearchInd, pointSearchSqDis);

            Eigen::Matrix<float, 5, 3> matA0;
            Eigen::Matrix<float, 5, 1> matB0;
            Eigen::Vector3f matX0;

            matA0.setZero();
            matB0.fill(-1);
            matX0.setZero();

            if (pointSearchSqDis[4] < 1.0) {
                for (int j = 0; j < 5; j++) {
                    matA0(j, 0) = laserCloudSurfFromMapDS->points[pointSearchInd[j]].x;
                    matA0(j, 1) = laserCloudSurfFromMapDS->points[pointSearchInd[j]].y;
                    matA0(j, 2) = laserCloudSurfFromMapDS->points[pointSearchInd[j]].z;
                }

                matX0 = matA0.colPivHouseholderQr().solve(matB0);

                float pa = matX0(0, 0);
                float pb = matX0(1, 0);
                float pc = matX0(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 < 5; j++) {
                    if (fabs(pa * laserCloudSurfFromMapDS->points[pointSearchInd[j]].x +
                             pb * laserCloudSurfFromMapDS->points[pointSearchInd[j]].y +
                             pc * laserCloudSurfFromMapDS->points[pointSearchInd[j]].z + pd) > 0.2) {
                        planeValid = false;
                        break;
                    }
                }

                if (planeValid) {
                    float pd2 = pa * pointSel.x + pb * pointSel.y + pc * pointSel.z + pd;

                    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) {
                        laserCloudOriSurfVec[i] = pointOri;
                        coeffSelSurfVec[i] = coeff;
                        laserCloudOriSurfFlag[i] = true;
                    }
                }
            }
        }
    }

    void combineOptimizationCoeffs()
    {
        // combine corner coeffs
        for (int i = 0; i < laserCloudCornerLastDSNum; ++i){
            if (laserCloudOriCornerFlag[i] == true){
                laserCloudOri->push_back(laserCloudOriCornerVec[i]);
                coeffSel->push_back(coeffSelCornerVec[i]);
            }
        }
        // combine surf coeffs
        for (int i = 0; i < laserCloudSurfLastDSNum; ++i){
            if (laserCloudOriSurfFlag[i] == true){
                laserCloudOri->push_back(laserCloudOriSurfVec[i]);
                coeffSel->push_back(coeffSelSurfVec[i]);
            }
        }
        // reset flag for next iteration
        std::fill(laserCloudOriCornerFlag.begin(), laserCloudOriCornerFlag.end(), false);
        std::fill(laserCloudOriSurfFlag.begin(), laserCloudOriSurfFlag.end(), false);
    }

    bool LMOptimization(int iterCount)
    {
        // This optimization is from the original loam_velodyne by Ji Zhang, need to cope with coordinate transformation
        // lidar <- camera      ---     camera <- lidar
        // x = z                ---     x = y
        // y = x                ---     y = z
        // z = y                ---     z = x
        // roll = yaw           ---     roll = pitch
        // pitch = roll         ---     pitch = yaw
        // yaw = pitch          ---     yaw = roll

        // lidar -> camera
        float srx = sin(transformTobeMapped[1]);
        float crx = cos(transformTobeMapped[1]);
        float sry = sin(transformTobeMapped[2]);
        float cry = cos(transformTobeMapped[2]);
        float srz = sin(transformTobeMapped[0]);
        float crz = cos(transformTobeMapped[0]);

        int laserCloudSelNum = laserCloudOri->size();
        if (laserCloudSelNum < 50) {
            return false;
        }

        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));
        cv::Mat matP(6, 6, CV_32F, cv::Scalar::all(0));

        PointType pointOri, coeff;

        for (int i = 0; i < laserCloudSelNum; i++) {
            // lidar -> camera
            pointOri.x = laserCloudOri->points[i].y;
            pointOri.y = laserCloudOri->points[i].z;
            pointOri.z = laserCloudOri->points[i].x;
            // lidar -> camera
            coeff.x = coeffSel->points[i].y;
            coeff.y = coeffSel->points[i].z;
            coeff.z = coeffSel->points[i].x;
            coeff.intensity = coeffSel->points[i].intensity;
            // in camera
            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;
            // lidar -> camera
            matA.at<float>(i, 0) = arz;
            matA.at<float>(i, 1) = arx;
            matA.at<float>(i, 2) = ary;
            matA.at<float>(i, 3) = coeff.z;
            matA.at<float>(i, 4) = coeff.x;
            matA.at<float>(i, 5) = coeff.y;
            matB.at<float>(i, 0) = -coeff.intensity;
        }

        cv::transpose(matA, matAt);
        matAtA = matAt * matA;
        matAtB = matAt * matB;
        cv::solve(matAtA, matAtB, matX, cv::DECOMP_QR);

        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] = {100, 100, 100, 100, 100, 100};
            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;
                    }
                    isDegenerate = true;
                } else {
                    break;
                }
            }
            matP = matV.inv() * matV2;
        }

        if (isDegenerate) {
            cv::Mat matX2(6, 1, CV_32F, cv::Scalar::all(0));
            matX.copyTo(matX2);
            matX = matP * matX2;
        }

        transformTobeMapped[0] += matX.at<float>(0, 0);
        transformTobeMapped[1] += matX.at<float>(1, 0);
        transformTobeMapped[2] += matX.at<float>(2, 0);
        transformTobeMapped[3] += matX.at<float>(3, 0);
        transformTobeMapped[4] += matX.at<float>(4, 0);
        transformTobeMapped[5] += matX.at<float>(5, 0);

        float deltaR = sqrt(
                            pow(pcl::rad2deg(matX.at<float>(0, 0)), 2) +
                            pow(pcl::rad2deg(matX.at<float>(1, 0)), 2) +
                            pow(pcl::rad2deg(matX.at<float>(2, 0)), 2));
        float deltaT = sqrt(
                            pow(matX.at<float>(3, 0) * 100, 2) +
                            pow(matX.at<float>(4, 0) * 100, 2) +
                            pow(matX.at<float>(5, 0) * 100, 2));

        if (deltaR < 0.05 && deltaT < 0.05) {
            return true; // converged
        }
        return false; // keep optimizing
    }

    void scan2MapOptimization()
    {
        if (cloudKeyPoses3D->points.empty())
            return;

        if (laserCloudCornerLastDSNum > edgeFeatureMinValidNum && laserCloudSurfLastDSNum > surfFeatureMinValidNum)
        {
            kdtreeCornerFromMap->setInputCloud(laserCloudCornerFromMapDS);
            kdtreeSurfFromMap->setInputCloud(laserCloudSurfFromMapDS);

            for (int iterCount = 0; iterCount < 30; iterCount++)
            {
                laserCloudOri->clear();
                coeffSel->clear();

                cornerOptimization();
                surfOptimization();

                combineOptimizationCoeffs();

                if (LMOptimization(iterCount) == true)
                    break;              
            }

            transformUpdate();
        } else {
            ROS_WARN("Not enough features! Only %d edge and %d planar features available.", laserCloudCornerLastDSNum, laserCloudSurfLastDSNum);
        }
    }

    void transformUpdate()
    {
        if (cloudInfo.imuAvailable == true)
        {
            if (std::abs(cloudInfo.imuPitchInit) < 1.4)
            {
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                double imuWeight = 0.01;
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                tf::Quaternion imuQuaternion;
                tf::Quaternion transformQuaternion;
                double rollMid, pitchMid, yawMid;

                // slerp roll
                transformQuaternion.setRPY(transformTobeMapped[0], 0, 0);
                imuQuaternion.setRPY(cloudInfo.imuRollInit, 0, 0);
                tf::Matrix3x3(transformQuaternion.slerp(imuQuaternion, imuWeight)).getRPY(rollMid, pitchMid, yawMid);
                transformTobeMapped[0] = rollMid;

                // slerp pitch
                transformQuaternion.setRPY(0, transformTobeMapped[1], 0);
                imuQuaternion.setRPY(0, cloudInfo.imuPitchInit, 0);
                tf::Matrix3x3(transformQuaternion.slerp(imuQuaternion, imuWeight)).getRPY(rollMid, pitchMid, yawMid);
                transformTobeMapped[1] = pitchMid;
            }
        }

        transformTobeMapped[0] = constraintTransformation(transformTobeMapped[0], rotation_tollerance);
        transformTobeMapped[1] = constraintTransformation(transformTobeMapped[1], rotation_tollerance);
        transformTobeMapped[5] = constraintTransformation(transformTobeMapped[5], z_tollerance);
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        incrementalOdometryAffineBack = trans2Affine3f(transformTobeMapped);
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    }

    float constraintTransformation(float value, float limit)
    {
        if (value < -limit)
            value = -limit;
        if (value > limit)
            value = limit;

        return value;
    }

    bool saveFrame()
    {
        if (cloudKeyPoses3D->points.empty())
            return true;

        Eigen::Affine3f transStart = pclPointToAffine3f(cloudKeyPoses6D->back());
        Eigen::Affine3f transFinal = pcl::getTransformation(transformTobeMapped[3], transformTobeMapped[4], transformTobeMapped[5], 
                                                            transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]);
        Eigen::Affine3f transBetween = transStart.inverse() * transFinal;
        float x, y, z, roll, pitch, yaw;
        pcl::getTranslationAndEulerAngles(transBetween, x, y, z, roll, pitch, yaw);

        if (abs(roll)  < surroundingkeyframeAddingAngleThreshold &&
            abs(pitch) < surroundingkeyframeAddingAngleThreshold && 
            abs(yaw)   < surroundingkeyframeAddingAngleThreshold &&
            sqrt(x*x + y*y + z*z) < surroundingkeyframeAddingDistThreshold)
            return false;

        return true;
    }

    void addOdomFactor()
    {
        if (cloudKeyPoses3D->points.empty())
        {
            noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Variances((Vector(6) << 1e-2, 1e-2, M_PI*M_PI, 1e8, 1e8, 1e8).finished()); // rad*rad, meter*meter
            gtSAMgraph.add(PriorFactor<Pose3>(0, trans2gtsamPose(transformTobeMapped), priorNoise));
            initialEstimate.insert(0, trans2gtsamPose(transformTobeMapped));
        }else{
            noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Variances((Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
            gtsam::Pose3 poseFrom = pclPointTogtsamPose3(cloudKeyPoses6D->points.back());
            gtsam::Pose3 poseTo   = trans2gtsamPose(transformTobeMapped);
            gtSAMgraph.add(BetweenFactor<Pose3>(cloudKeyPoses3D->size()-1, cloudKeyPoses3D->size(), poseFrom.between(poseTo), odometryNoise));
            initialEstimate.insert(cloudKeyPoses3D->size(), poseTo);
        }
    }

    void addGPSFactor()
    {
        if (gpsQueue.empty())
            return;

        // wait for system initialized and settles down
        if (cloudKeyPoses3D->points.empty())
            return;
        else
        {
            if (pointDistance(cloudKeyPoses3D->front(), cloudKeyPoses3D->back()) < 5.0)
                return;
        }

        // pose covariance small, no need to correct
        if (poseCovariance(3,3) < poseCovThreshold && poseCovariance(4,4) < poseCovThreshold)
            return;
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        // last gps position
        static PointType lastGPSPoint;
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        while (!gpsQueue.empty())
        {
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            if (gpsQueue.front().header.stamp.toSec() < timeLaserInfoCur - 0.2)
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            {
                // message too old
                gpsQueue.pop_front();
            }
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            else if (gpsQueue.front().header.stamp.toSec() > timeLaserInfoCur + 0.2)
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            {
                // message too new
                break;
            }
            else
            {
                nav_msgs::Odometry thisGPS = gpsQueue.front();
                gpsQueue.pop_front();

                // GPS too noisy, skip
                float noise_x = thisGPS.pose.covariance[0];
                float noise_y = thisGPS.pose.covariance[7];
                float noise_z = thisGPS.pose.covariance[14];
                if (noise_x > gpsCovThreshold || noise_y > gpsCovThreshold)
                    continue;

                float gps_x = thisGPS.pose.pose.position.x;
                float gps_y = thisGPS.pose.pose.position.y;
                float gps_z = thisGPS.pose.pose.position.z;
                if (!useGpsElevation)
                {
                    gps_z = transformTobeMapped[5];
                    noise_z = 0.01;
                }

                // GPS not properly initialized (0,0,0)
                if (abs(gps_x) < 1e-6 && abs(gps_y) < 1e-6)
                    continue;
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                // Add GPS every a few meters
                PointType curGPSPoint;
                curGPSPoint.x = gps_x;
                curGPSPoint.y = gps_y;
                curGPSPoint.z = gps_z;
                if (pointDistance(curGPSPoint, lastGPSPoint) < 5.0)
                    continue;
                else
                    lastGPSPoint = curGPSPoint;
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                gtsam::Vector Vector3(3);
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                Vector3 << max(noise_x, 1.0f), max(noise_y, 1.0f), max(noise_z, 1.0f);
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                noiseModel::Diagonal::shared_ptr gps_noise = noiseModel::Diagonal::Variances(Vector3);
                gtsam::GPSFactor gps_factor(cloudKeyPoses3D->size(), gtsam::Point3(gps_x, gps_y, gps_z), gps_noise);
                gtSAMgraph.add(gps_factor);

                aLoopIsClosed = true;
                break;
            }
        }
    }
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    void addLoopFactor()
    {
        if (loopIndexQueue.empty())
            return;

        for (int i = 0; i < (int)loopIndexQueue.size(); ++i)
        {
            int indexFrom = loopIndexQueue[i].first;
            int indexTo = loopIndexQueue[i].second;
            gtsam::Pose3 poseBetween = loopPoseQueue[i];
            gtsam::noiseModel::Diagonal::shared_ptr noiseBetween = loopNoiseQueue[i];
            gtSAMgraph.add(BetweenFactor<Pose3>(indexFrom, indexTo, poseBetween, noiseBetween));
        }

        loopIndexQueue.clear();
        loopPoseQueue.clear();
        loopNoiseQueue.clear();
        aLoopIsClosed = true;
    }
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    void saveKeyFramesAndFactor()
    {
        if (saveFrame() == false)
            return;

        // odom factor
        addOdomFactor();

        // gps factor
        addGPSFactor();
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        // loop factor
        addLoopFactor();
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        // cout << "****************************************************" << endl;
        // gtSAMgraph.print("GTSAM Graph:\n");

        // update iSAM
        isam->update(gtSAMgraph, initialEstimate);
        isam->update();
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        if (aLoopIsClosed == true)
        {
            isam->update();
            isam->update();
            isam->update();
            isam->update();
            isam->update();
        }
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        gtSAMgraph.resize(0);
        initialEstimate.clear();

        //save key poses
        PointType thisPose3D;
        PointTypePose thisPose6D;
        Pose3 latestEstimate;

        isamCurrentEstimate = isam->calculateEstimate();
        latestEstimate = isamCurrentEstimate.at<Pose3>(isamCurrentEstimate.size()-1);
        // cout << "****************************************************" << endl;
        // isamCurrentEstimate.print("Current estimate: ");

        thisPose3D.x = latestEstimate.translation().x();
        thisPose3D.y = latestEstimate.translation().y();
        thisPose3D.z = latestEstimate.translation().z();
        thisPose3D.intensity = cloudKeyPoses3D->size(); // this can be used as index
        cloudKeyPoses3D->push_back(thisPose3D);

        thisPose6D.x = thisPose3D.x;
        thisPose6D.y = thisPose3D.y;
        thisPose6D.z = thisPose3D.z;
        thisPose6D.intensity = thisPose3D.intensity ; // this can be used as index
        thisPose6D.roll  = latestEstimate.rotation().roll();
        thisPose6D.pitch = latestEstimate.rotation().pitch();
        thisPose6D.yaw   = latestEstimate.rotation().yaw();
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        thisPose6D.time = timeLaserInfoCur;
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        cloudKeyPoses6D->push_back(thisPose6D);

        // cout << "****************************************************" << endl;
        // cout << "Pose covariance:" << endl;
        // cout << isam->marginalCovariance(isamCurrentEstimate.size()-1) << endl << endl;
        poseCovariance = isam->marginalCovariance(isamCurrentEstimate.size()-1);

        // save updated transform
        transformTobeMapped[0] = latestEstimate.rotation().roll();
        transformTobeMapped[1] = latestEstimate.rotation().pitch();
        transformTobeMapped[2] = latestEstimate.rotation().yaw();
        transformTobeMapped[3] = latestEstimate.translation().x();
        transformTobeMapped[4] = latestEstimate.translation().y();
        transformTobeMapped[5] = latestEstimate.translation().z();

        // save all the received edge and surf points
        pcl::PointCloud<PointType>::Ptr thisCornerKeyFrame(new pcl::PointCloud<PointType>());
        pcl::PointCloud<PointType>::Ptr thisSurfKeyFrame(new pcl::PointCloud<PointType>());
        pcl::copyPointCloud(*laserCloudCornerLastDS,  *thisCornerKeyFrame);
        pcl::copyPointCloud(*laserCloudSurfLastDS,    *thisSurfKeyFrame);

        // save key frame cloud
        cornerCloudKeyFrames.push_back(thisCornerKeyFrame);
        surfCloudKeyFrames.push_back(thisSurfKeyFrame);

        // save path for visualization
        updatePath(thisPose6D);
    }

    void correctPoses()
    {
        if (cloudKeyPoses3D->points.empty())
            return;

        if (aLoopIsClosed == true)
        {
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            // clear map cache
            laserCloudMapContainer.clear();
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            // clear path
            globalPath.poses.clear();
            // update key poses
            int numPoses = isamCurrentEstimate.size();
            for (int i = 0; i < numPoses; ++i)
            {
                cloudKeyPoses3D->points[i].x = isamCurrentEstimate.at<Pose3>(i).translation().x();
                cloudKeyPoses3D->points[i].y = isamCurrentEstimate.at<Pose3>(i).translation().y();
                cloudKeyPoses3D->points[i].z = isamCurrentEstimate.at<Pose3>(i).translation().z();

                cloudKeyPoses6D->points[i].x = cloudKeyPoses3D->points[i].x;
                cloudKeyPoses6D->points[i].y = cloudKeyPoses3D->points[i].y;
                cloudKeyPoses6D->points[i].z = cloudKeyPoses3D->points[i].z;
                cloudKeyPoses6D->points[i].roll  = isamCurrentEstimate.at<Pose3>(i).rotation().roll();
                cloudKeyPoses6D->points[i].pitch = isamCurrentEstimate.at<Pose3>(i).rotation().pitch();
                cloudKeyPoses6D->points[i].yaw   = isamCurrentEstimate.at<Pose3>(i).rotation().yaw();

                updatePath(cloudKeyPoses6D->points[i]);
            }

            aLoopIsClosed = false;
        }
    }

    void updatePath(const PointTypePose& pose_in)
    {
        geometry_msgs::PoseStamped pose_stamped;
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        pose_stamped.header.stamp = ros::Time().fromSec(pose_in.time);
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        pose_stamped.header.frame_id = odometryFrame;
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        pose_stamped.pose.position.x = pose_in.x;
        pose_stamped.pose.position.y = pose_in.y;
        pose_stamped.pose.position.z = pose_in.z;
        tf::Quaternion q = tf::createQuaternionFromRPY(pose_in.roll, pose_in.pitch, pose_in.yaw);
        pose_stamped.pose.orientation.x = q.x();
        pose_stamped.pose.orientation.y = q.y();
        pose_stamped.pose.orientation.z = q.z();
        pose_stamped.pose.orientation.w = q.w();

        globalPath.poses.push_back(pose_stamped);
    }

    void publishOdometry()
    {
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        // Publish odometry for ROS (global)
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        nav_msgs::Odometry laserOdometryROS;
        laserOdometryROS.header.stamp = timeLaserInfoStamp;
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        laserOdometryROS.header.frame_id = odometryFrame;
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        laserOdometryROS.child_frame_id = "odom_mapping";
        laserOdometryROS.pose.pose.position.x = transformTobeMapped[3];
        laserOdometryROS.pose.pose.position.y = transformTobeMapped[4];
        laserOdometryROS.pose.pose.position.z = transformTobeMapped[5];
        laserOdometryROS.pose.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]);
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        pubLaserOdometryGlobal.publish(laserOdometryROS);
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        // Publish TF
        static tf::TransformBroadcaster br;
        tf::Transform t_odom_to_lidar = tf::Transform(tf::createQuaternionFromRPY(transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]),
                                                      tf::Vector3(transformTobeMapped[3], transformTobeMapped[4], transformTobeMapped[5]));
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        tf::StampedTransform trans_odom_to_lidar = tf::StampedTransform(t_odom_to_lidar, timeLaserInfoStamp, odometryFrame, "lidar_link");
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        br.sendTransform(trans_odom_to_lidar);
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        // Publish odometry for ROS (incremental)
        static bool lastIncreOdomPubFlag = false;
        static nav_msgs::Odometry laserOdomIncremental; // incremental odometry msg
        static Eigen::Affine3f increOdomAffine; // incremental odometry in affine
        if (lastIncreOdomPubFlag == false)
        {
            lastIncreOdomPubFlag = true;
            laserOdomIncremental = laserOdometryROS;
            increOdomAffine = trans2Affine3f(transformTobeMapped);
        } else {
            Eigen::Affine3f affineIncre = incrementalOdometryAffineFront.inverse() * incrementalOdometryAffineBack;
            increOdomAffine = increOdomAffine * affineIncre;
            float x, y, z, roll, pitch, yaw;
            pcl::getTranslationAndEulerAngles (increOdomAffine, x, y, z, roll, pitch, yaw);
            if (cloudInfo.imuAvailable == true)
            {
                if (std::abs(cloudInfo.imuPitchInit) < 1.4)
                {
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                    double imuWeight = 0.01;
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                    tf::Quaternion imuQuaternion;
                    tf::Quaternion transformQuaternion;
                    double rollMid, pitchMid, yawMid;
                    transformQuaternion.setRPY(roll, pitch, 0);
                    imuQuaternion.setRPY(cloudInfo.imuRollInit, cloudInfo.imuPitchInit, 0);
                    tf::Matrix3x3(transformQuaternion.slerp(imuQuaternion, imuWeight)).getRPY(rollMid, pitchMid, yawMid);
                    roll = rollMid;
                    pitch = pitchMid;
                }
            }
            laserOdomIncremental.header.stamp = timeLaserInfoStamp;
            laserOdomIncremental.header.frame_id = odometryFrame;
            laserOdomIncremental.child_frame_id = "odom_mapping";
            laserOdomIncremental.pose.pose.position.x = x;
            laserOdomIncremental.pose.pose.position.y = y;
            laserOdomIncremental.pose.pose.position.z = z;
            laserOdomIncremental.pose.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
        }
        pubLaserOdometryIncremental.publish(laserOdomIncremental);
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    }

    void publishFrames()
    {
        if (cloudKeyPoses3D->points.empty())
            return;
        // publish key poses
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        publishCloud(&pubKeyPoses, cloudKeyPoses3D, timeLaserInfoStamp, odometryFrame);
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        // Publish surrounding key frames
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        publishCloud(&pubRecentKeyFrames, laserCloudSurfFromMapDS, timeLaserInfoStamp, odometryFrame);
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        // publish registered key frame
        if (pubRecentKeyFrame.getNumSubscribers() != 0)
        {
            pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());
            PointTypePose thisPose6D = trans2PointTypePose(transformTobeMapped);
            *cloudOut += *transformPointCloud(laserCloudCornerLastDS,  &thisPose6D);
            *cloudOut += *transformPointCloud(laserCloudSurfLastDS,    &thisPose6D);
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            publishCloud(&pubRecentKeyFrame, cloudOut, timeLaserInfoStamp, odometryFrame);
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        }
        // publish registered high-res raw cloud
        if (pubCloudRegisteredRaw.getNumSubscribers() != 0)
        {
            pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());
            pcl::fromROSMsg(cloudInfo.cloud_deskewed, *cloudOut);
            PointTypePose thisPose6D = trans2PointTypePose(transformTobeMapped);
            *cloudOut = *transformPointCloud(cloudOut,  &thisPose6D);
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            publishCloud(&pubCloudRegisteredRaw, cloudOut, timeLaserInfoStamp, odometryFrame);
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        }
        // publish path
        if (pubPath.getNumSubscribers() != 0)
        {
            globalPath.header.stamp = timeLaserInfoStamp;
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            globalPath.header.frame_id = odometryFrame;
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            pubPath.publish(globalPath);
        }
    }
};


int main(int argc, char** argv)
{
    ros::init(argc, argv, "lio_sam");

    mapOptimization MO;

    ROS_INFO("\033[1;32m----> Map Optimization Started.\033[0m");
    
    std::thread loopthread(&mapOptimization::loopClosureThread, &MO);
    std::thread visualizeMapThread(&mapOptimization::visualizeGlobalMapThread, &MO);

    ros::spin();
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    loopthread.join();
    visualizeMapThread.join();
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    return 0;
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}
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