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Direct-LiDAR-Inertial-Odometry-and-Mapping的复现版本

License: MIT License

CMake 1.23% C++ 98.77%

dliom's Introduction

DLIOM

这份代码是基于direct_lidar_inertial_odometry，对论文Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM的早期复现改进版本。

代码功能正在持续完善中，当前仍然存在较多bug，仍在努力测试修改

图1 : UrbanLoco dataset Dataset 5: HK-Data20190117测试效果

图2: 闭环前后的轨迹对比

图3: 基于3D Jaccard的submap构建

依赖

Ubuntu 20.04
ROS Noetic (roscpp, std_msgs, sensor_msgs, geometry_msgs, nav_msgs, pcl_ros)
C++ 14
CMake >= 3.12.4
OpenMP >= 4.5
Point Cloud Library >= 1.10.0
Eigen >= 3.3.7
GTSAM >= 4.0.2

sudo apt install libomp-dev libpcl-dev libeigen3-dev

编译

mkdir ws && cd ws && mkdir src && cd src
git clone https://github.com/YWL0720/DLIOM.git
cd ..
catkin_make

已经实现的功能

基于GTSAM的后端
基于3D Jaccard的子地图构建
基于欧氏距离的回环检测

待实现的功能

重力因子

更新日志:

7.11 单独线程用于更新地图，解决回环后崩溃的问题
7.12 更改了一些用于回环的参数
7.13 修正了ulhk数据集重力的影响
7.13 完成了回环后位姿在submap中的更新
7.13 更新了readme
7.14 更新了gtsam::pose3的旋转构造方式此前的转换存在问题
7.14 添加了对newer college数据集的测试增加了保存回环后关键帧位姿的接口
7.17 增加了utbm接口
7.18 修正了fitness的bug
8.1 增加GeographicLib的GPS预处理接口
8.2 完成GPS回调 UTM与Lidar系的初始化对齐
8.3 添加了GPS因子
8.4 增加了一种引入GPS因子的方式待测试
8.11 添加了GNSS与Lidar外参增量式更新的方法

TODO:

IMU因子
优化submap部分和地图更新部分的代码
对部分环节进行加速
精简可视化部分

参考

@misc{chen2023direct,
      title={Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM}, 
      author={Kenny Chen and Ryan Nemiroff and Brett T. Lopez},
      year={2023},
      eprint={2305.01843},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

@article{chen2022dlio,
  title={Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction},
  author={Chen, Kenny and Nemiroff, Ryan and Lopez, Brett T},
  journal={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2023},
  pages={3983-3989},
  doi={10.1109/ICRA48891.2023.10160508}
}

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dliom's Issues

启动命令问题

你好，我使用您的代码进行复现，但是我不知道要怎么进行数据集的使用，我launch文件是使用dlio.launch文件启动，我的数据集的节点是livox/lidar，livox/imu，我将launch文件进行修改并且运行代码也是按照dlio的格式写的，但是启动报错，请问是为什么？我启动的方式是不是有问题。正确的代码应该是什么

我的运行代码：
roslaunch direct_lidar_inertial_odometry dlio.launch pointcloud_topic:=/livox/lidar imu_topic:=/livox/imu

我的报错：
/home/hjy/dliom_ws/devel/lib/direct_lidar_inertial_odometry/dlio_odom_node: error while loading shared libraries: libmetis-gtsam.so: cannot open shared object file: No such file or directory
process[robot/dlio_map-3]: started with pid [17503]
/home/hjy/dliom_ws/devel/lib/direct_lidar_inertial_odometry/dlio_map_node: error while loading shared libraries: libmetis-gtsam.so: cannot open shared object file: No such file or directory
process[dlio_rviz-4]: started with pid [17504]
[robot/dlio_odom-2] process has died [pid 17502, exit code 127, cmd /home/hjy/dliom_ws/devel/lib/direct_lidar_inertial_odometry/dlio_odom_node ~pointcloud:=/livox/lidar ~imu:=/livox/imu ~odom:=dlio/odom_node/odom ~pose:=dlio/odom_node/pose ~path:=path ~kf_pose:=dlio/odom_node/keyframes ~kf_cloud:=dlio/odom_node/pointcloud/keyframe ~deskewed:=dlio/odom_node/pointcloud/deskewed __name:=dlio_odom __log:=/home/hjy/.ros/log/1a523bb0-4995-11ef-a0ef-0242ac110003/robot-dlio_odom-2.log].
log file: /home/hjy/.ros/log/1a523bb0-4995-11ef-a0ef-0242ac110003/robot-dlio_odom-2*.log
[robot/dlio_map-3] process has died [pid 17503, exit code 127, cmd /home/hjy/dliom_ws/devel/lib/direct_lidar_inertial_odometry/dlio_map_node ~keyframes:=dlio/odom_node/pointcloud/keyframe ~map:=dlio/map_node/map __name:=dlio_map __log:=/home/hjy/.ros/log/1a523bb0-4995-11ef-a0ef-0242ac110003/robot-dlio_map-3.log].
log file: /home/hjy/.ros/log/1a523bb0-4995-11ef-a0ef-0242ac110003/robot-dlio_map-3*.log

疑问：keyframes 中的点云是否也需要在全局优化后进行矫正

keyframes中的pose 每次全局优化后会进行矫正，而cloud从未矫正过。也就是说这些cloud各自在不同的坐标系下（它们经历过不同次数的后端优化，也就是产生该keyframe时里程计被矫正过的次数，有的可能在没有经过任何后端优化时的坐标系，有的可能处在经过若干次后端优化的坐标系）。然而代码中的构建jaccard submap时使用这些实际上处于不同坐标系的点云进行knn计算相似度。

Process has died error (exit code -11)

Hi, really appreciate this work. I'm getting the following error as soon as the IMU calibration completes:

+-------------------------------------------------------------------+
| Direct LiDAR-Inertial Odometry and Mapping v1.0 |
+-------------------------------------------------------------------+

Calibrating IMU for 3 seconds... done

Accel biases [xyz]: 0.31946748, -0.10318823, -19.60602570
Gyro biases [xyz]: 0.00086732, 0.00014013, -0.00075244

DLIO initialized!
[robot/dlio_odom-2] process has died [pid 20903, exit code -11, cmd /home/bil/ws/devel/lib/direct_lidar_inertial_odometry/dlio_odom_node ~pointcloud:=/robosense/helios/right ~imu:=/sbg/imu_data ~gps:=/sbg/ekf_nav_fix ~odom:=robot/odom ~pose:=robot/pose ~path:=path ~kf_pose:=robot/kf_pose ~kf_cloud:=robot/kf_cloud ~deskewed:=robot/deskewed ~kf_connect:=robot/kf_connect ~loop_constraint:=robot/loop_constraint ~global_map:=robot/global_map ~global_odom:=robot/global_odom ~odom_gps:=robot/odom_gps __name:=dlio_odom __log:=/home/bil/.ros/log/2a02dbca-5645-11ef-b970-a733887e9e32/robot-dlio_odom-2.log].
log file: /home/bil/.ros/log/2a02dbca-5645-11ef-b970-a733887e9e32/robot-dlio_odom-2*.log

Sadly, there are no informative logs.

Do you know a possible solution to this? Thank you!

##请教一下回环崩溃问题##

作者，你好。请问你的是哪一方面导致的呢？