OdometryLOAM.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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#include "rtabmap/core/odometry/OdometryLOAM.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/core/util3d.h"
#include <pcl/common/transforms.h>
 
namespace rtabmap {
 
OdometryLOAM::OdometryLOAM(const ParametersMap & parameters) :
        Odometry(parameters)
#ifdef RTABMAP_LOAM
        ,lastPose_(Transform::getIdentity())
        ,scanPeriod_(Parameters::defaultOdomLOAMScanPeriod())
        ,linVar_(Parameters::defaultOdomLOAMLinVar())
        ,angVar_(Parameters::defaultOdomLOAMAngVar())
        ,localMapping_(Parameters::defaultOdomLOAMLocalMapping())
        ,lost_(false)
#endif
{
#ifdef RTABMAP_LOAM
        int velodyneType = Parameters::defaultOdomLOAMSensor();
        float mapResolution  = Parameters::defaultOdomLOAMResolution();
        Parameters::parse(parameters, Parameters::kOdomLOAMSensor(), velodyneType);
        Parameters::parse(parameters, Parameters::kOdomLOAMScanPeriod(), scanPeriod_);
        Parameters::parse(parameters, Parameters::kOdomLOAMResolution(), mapResolution);
        UASSERT(mapResolution>0.0f);
        Parameters::parse(parameters, Parameters::kOdomLOAMLinVar(), linVar_);
        UASSERT(linVar_>0.0f);
        Parameters::parse(parameters, Parameters::kOdomLOAMAngVar(), angVar_);
        UASSERT(angVar_>0.0f);
        Parameters::parse(parameters, Parameters::kOdomLOAMLocalMapping(), localMapping_);
        if(velodyneType == 1)
        {
                scanMapper_ = loam::MultiScanMapper::Velodyne_HDL_32();
        }
        else if(velodyneType == 2)
        {
                scanMapper_ = loam::MultiScanMapper::Velodyne_HDL_64E();
        }
        else
        {
                scanMapper_ = loam::MultiScanMapper::Velodyne_VLP_16();
        }
        laserOdometry_ =  new loam::BasicLaserOdometry(scanPeriod_);
        laserMapping_ = new loam::BasicLaserMapping(scanPeriod_);
        laserMapping_->downSizeFilterCorner().setLeafSize(mapResolution, mapResolution, mapResolution);
        laserMapping_->downSizeFilterSurf().setLeafSize(mapResolution*2.0f, mapResolution*2.0f, mapResolution*2.0f);
#endif
}
 
OdometryLOAM::~OdometryLOAM()
{
#ifdef RTABMAP_LOAM
        delete laserOdometry_;
        delete laserMapping_;
#endif
}
 
void OdometryLOAM::reset(const Transform & initialPose)
{
        Odometry::reset(initialPose);
#ifdef RTABMAP_LOAM
        lastPose_.setIdentity();
        scanRegistration_ = loam::BasicScanRegistration();
        loam::RegistrationParams regParams;
        regParams.scanPeriod = scanPeriod_;
        scanRegistration_.configure(regParams);
        delete laserOdometry_;
        laserOdometry_ =  new loam::BasicLaserOdometry(scanPeriod_);
        delete laserMapping_;
        laserMapping_ = new loam::BasicLaserMapping(scanPeriod_);
        transformMaintenance_ = loam::BasicTransformMaintenance();
        lost_ = false;
#endif
}
 
#ifdef RTABMAP_LOAM
std::vector<pcl::PointCloud<pcl::PointXYZI> > OdometryLOAM::segmentScanRings(const pcl::PointCloud<pcl::PointXYZ> & laserCloudIn)
{
        std::vector<pcl::PointCloud<pcl::PointXYZI> > laserCloudScans;
 
        size_t cloudSize = laserCloudIn.size();
 
        // determine scan start and end orientations
        float startOri = -std::atan2(laserCloudIn[0].y, laserCloudIn[0].x);
        float endOri = -std::atan2(laserCloudIn[cloudSize - 1].y,
                        laserCloudIn[cloudSize - 1].x) + 2 * float(M_PI);
        if (endOri - startOri > 3 * M_PI) {
                endOri -= 2 * M_PI;
        } else if (endOri - startOri < M_PI) {
                endOri += 2 * M_PI;
        }
 
        bool halfPassed = false;
        pcl::PointXYZI point;
        laserCloudScans.resize(scanMapper_.getNumberOfScanRings());
        // clear all scanline points
        std::for_each(laserCloudScans.begin(), laserCloudScans.end(), [](auto&&v) {v.clear(); });
 
        // extract valid points from input cloud
        for (size_t i = 0; i < cloudSize; i++) {
                point.x = laserCloudIn[i].y;
                point.y = laserCloudIn[i].z;
                point.z = laserCloudIn[i].x;
 
                // skip NaN and INF valued points
                if (!pcl_isfinite(point.x) ||
                                !pcl_isfinite(point.y) ||
                                !pcl_isfinite(point.z)) {
                        continue;
                }
 
                // skip zero valued points
                if (point.x * point.x + point.y * point.y + point.z * point.z < 0.0001) {
                        continue;
                }
 
                // calculate vertical point angle and scan ID
                float angle = std::atan(point.y / std::sqrt(point.x * point.x + point.z * point.z));
                int scanID = scanMapper_.getRingForAngle(angle);
                if (scanID >= scanMapper_.getNumberOfScanRings() || scanID < 0 ){
                        continue;
                }
 
                // calculate horizontal point angle
                float ori = -std::atan2(point.x, point.z);
                if (!halfPassed) {
                        if (ori < startOri - M_PI / 2) {
                                ori += 2 * M_PI;
                        } else if (ori > startOri + M_PI * 3 / 2) {
                                ori -= 2 * M_PI;
                        }
 
                        if (ori - startOri > M_PI) {
                                halfPassed = true;
                        }
                } else {
                        ori += 2 * M_PI;
 
                        if (ori < endOri - M_PI * 3 / 2) {
                                ori += 2 * M_PI;
                        } else if (ori > endOri + M_PI / 2) {
                                ori -= 2 * M_PI;
                        }
                }
 
                // calculate relative scan time based on point orientation
                float relTime = scanPeriod_ * (ori - startOri) / (endOri - startOri);
                point.intensity = scanID + relTime;
 
                // imu not used...
                //scanRegistration_.projectPointToStartOfSweep(point, relTime);
 
                laserCloudScans[scanID].push_back(point);
        }
 
        return laserCloudScans;
}
#endif
 
// return not null transform if odometry is correctly computed
Transform OdometryLOAM::computeTransform(
                SensorData & data,
                const Transform & guess,
                OdometryInfo * info)
{
        Transform t;
#ifdef RTABMAP_LOAM
        UTimer timer;
 
        if(data.laserScanRaw().isEmpty())
        {
                UERROR("LOAM works only with laser scans and the current input is empty. Aborting odometry update...");
                return t;
        }
        else if(data.laserScanRaw().is2d())
        {
                UERROR("LOAM version used works only with 3D laser scans from Velodyne. Aborting odometry update...");
                return t;
        }
 
        cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1)*9999;
        if(!lost_)
        {
                pcl::PointCloud<pcl::PointXYZ>::Ptr laserCloudInPtr = util3d::laserScanToPointCloud(data.laserScanRaw());
                std::vector<pcl::PointCloud<pcl::PointXYZI> > laserCloudScans = segmentScanRings(*laserCloudInPtr);
 
                ros::Time stampT;
                stampT.fromSec(data.stamp());
                loam::Time scanTime = loam::fromROSTime(stampT);
                scanRegistration_.processScanlines(scanTime, laserCloudScans);
 
                *laserOdometry_->cornerPointsSharp() = scanRegistration_.cornerPointsSharp();
                *laserOdometry_->cornerPointsLessSharp() = scanRegistration_.cornerPointsLessSharp();
                *laserOdometry_->surfPointsFlat() = scanRegistration_.surfacePointsFlat();
                *laserOdometry_->surfPointsLessFlat() = scanRegistration_.surfacePointsLessFlat();
                *laserOdometry_->laserCloud() = scanRegistration_.laserCloud();
                pcl::PointCloud<pcl::PointXYZ> imuTrans;
                imuTrans.resize(4);
                laserOdometry_->updateIMU(imuTrans);
                laserOdometry_->process();
 
                if(localMapping_)
                {
                        laserMapping_->laserCloudCornerLast() = *laserOdometry_->lastCornerCloud();
                        laserMapping_->laserCloudSurfLast() = *laserOdometry_->lastSurfaceCloud();
                        laserMapping_->laserCloud() = *laserOdometry_->laserCloud();
                        laserMapping_->updateOdometry(laserOdometry_->transformSum());
                        laserMapping_->process(scanTime);
                }
 
                transformMaintenance_.updateOdometry(
                                laserOdometry_->transformSum().rot_x.rad(),
                                laserOdometry_->transformSum().rot_y.rad(),
                                laserOdometry_->transformSum().rot_z.rad(),
                                laserOdometry_->transformSum().pos.x(),
                                laserOdometry_->transformSum().pos.y(),
                                laserOdometry_->transformSum().pos.z());
                transformMaintenance_.updateMappingTransform(laserMapping_->transformAftMapped(), laserMapping_->transformBefMapped());
                transformMaintenance_.transformAssociateToMap();
                const float * tm = transformMaintenance_.transformMapped();
                Transform pose = Transform(tm[5], tm[3], tm[4], tm[2], tm[0], tm[1]);
 
                if(!pose.isNull())
                {
                        covariance = cv::Mat::eye(6,6,CV_64FC1);
                        covariance(cv::Range(0,3), cv::Range(0,3)) *= linVar_;
                        covariance(cv::Range(3,6), cv::Range(3,6)) *= angVar_;
 
                        t = lastPose_.inverse() * pose; // incremental
                        lastPose_ = pose;
 
                        const Transform & localTransform = data.laserScanRaw().localTransform();
                        if(!t.isNull() && !t.isIdentity() && !localTransform.isIdentity() && !localTransform.isNull())
                        {
                                // from laser frame to base frame
                                t = localTransform * t * localTransform.inverse();
                        }
 
                        if(info)
                        {
                                info->type = (int)kTypeLOAM;
                                info->localScanMapSize = laserMapping_->laserCloudSurroundDS().size();
                                if(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1)
                                {
                                        info->reg.covariance = covariance;
                                }
 
                                if(this->isInfoDataFilled())
                                {
                                        Transform rot(0,0,1,0,1,0,0,0,0,1,0,0);
                                        pcl::PointCloud<pcl::PointXYZI> out;
                                        pcl::transformPointCloud(laserMapping_->laserCloudSurroundDS(), out, rot.toEigen3f());
                                        info->localScanMap = LaserScan(util3d::laserScanFromPointCloud(out), 0, data.laserScanRaw().rangeMax(), data.laserScanRaw().localTransform());
                                }
                        }
                }
                else
                {
                        lost_ = true;
                        UWARN("LOAM failed to register the latest scan, odometry should be reset.");
                }
        }
        UINFO("Odom update time = %fs, lost=%s", timer.elapsed(), lost_?"true":"false");
 
#else
        UERROR("RTAB-Map is not built with LOAM support! Select another odometry approach.");
#endif
        return t;
}
 
} // namespace rtabmap