lego-loam featureAssociation 源码注释（五）

最新推荐文章于 2026-08-20 10:21:55 发布

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最新推荐文章于 2026-08-20 10:21:55 发布 · 854 阅读

上一次我们已经看完了特征提取，这次我们进入特征匹配的内容！！！

  /**
		2. Feature Association
        */
        if (!systemInitedLM) {
            checkSystemInitialization();
            return;
        }

        updateInitialGuess();

        updateTransformation();

        integrateTransformation();

        publishOdometry();

        publishCloudsLast(); // cloud to mapOptimization
    }

systemInitedLM = false; systemInitedLM的初始值为false。

一、checkSystemInitialization()

 void checkSystemInitialization(){

        pcl::PointCloud<PointType>::Ptr laserCloudTemp = cornerPointsLessSharp;
        cornerPointsLessSharp = laserCloudCornerLast;
        laserCloudCornerLast = laserCloudTemp;

        laserCloudTemp = surfPointsLessFlat;
        surfPointsLessFlat = laserCloudSurfLast;
        laserCloudSurfLast = laserCloudTemp;

        kdtreeCornerLast->setInputCloud(laserCloudCornerLast);
        kdtreeSurfLast->setInputCloud(laserCloudSurfLast);
// 使用交换后的 laserCloudCornerLast 和 laserCloudSurfLast 更新两个KD树（kdtreeCornerLast 和 kdtreeSurfLast）的输入云数据。
// KD树是用于加速最近邻搜索的数据结构，这里可能用于后续的点云匹配和处理。

        laserCloudCornerLastNum = laserCloudCornerLast->points.size();
        laserCloudSurfLastNum = laserCloudSurfLast->points.size();

        sensor_msgs::PointCloud2 laserCloudCornerLast2;
        pcl::toROSMsg(*laserCloudCornerLast, laserCloudCornerLast2);
        laserCloudCornerLast2.header.stamp = cloudHeader.stamp;
        laserCloudCornerLast2.header.frame_id = "camera";
        pubLaserCloudCornerLast.publish(laserCloudCornerLast2);

        sensor_msgs::PointCloud2 laserCloudSurfLast2;
        pcl::toROSMsg(*laserCloudSurfLast, laserCloudSurfLast2);
        laserCloudSurfLast2.header.stamp = cloudHeader.stamp;
        laserCloudSurfLast2.header.frame_id = "camera";
        pubLaserCloudSurfLast.publish(laserCloudSurfLast2);

        transformSum[0] += imuPitchStart;
        transformSum[2] += imuRollStart;

        systemInitedLM = true;
    }

将cornerPointsLessSharp的值存入laserCloudCornerLast，并发布。

将surfPointsLessFlat的值存入laserCloudSurfLast，并发布。

transformSun[i]=0，原来初值为0。

更新transformSum的值，有个问题：为什么不更新transformSum【1】？？

transformSum[0] += imuPitchStart;

transformSum[2] += imuRollStart;

将systemInitedLM设置为true1，然后进入到特征匹配。

二、updateInitialGuess()

 void updateInitialGuess(){

        imuPitchLast = imuPitchCur;
        imuYawLast = imuYawCur;
        imuRollLast = imuRollCur;

        imuShiftFromStartX = imuShiftFromStartXCur;
        imuShiftFromStartY = imuShiftFromStartYCur;
        imuShiftFromStartZ = imuShiftFromStartZCur;

        imuVeloFromStartX = imuVeloFromStartXCur;
        imuVeloFromStartY = imuVeloFromStartYCur;
        imuVeloFromStartZ = imuVeloFromStartZCur;

        if (imuAngularFromStartX != 0 || imuAngularFromStartY != 0 || imuAngularFromStartZ != 0){
            transformCur[0] = - imuAngularFromStartY;
            transformCur[1] = - imuAngularFromStartZ;
            transformCur[2] = - imuAngularFromStartX;
        }
        
        if (imuVeloFromStartX != 0 || imuVeloFromStartY != 0 || imuVeloFromStartZ != 0){
            transformCur[3] -= imuVeloFromStartX * scanPeriod;
            transformCur[4] -= imuVeloFromStartY * scanPeriod;
            transformCur[5] -= imuVeloFromStartZ * scanPeriod;
           //extern const float scanPeriod = 0.1;
        }
    }

更新imu的值，imuPitchCur、imuYawCur、imuRollCur等值都是在adjustDistortion()函数中，通过插值得到的。

注意这里坐标轴的变换与对应：

transformCur[0] = - imuAngularFromStartY;
transformCur[1] = - imuAngularFromStartZ;
transformCur[2] = - imuAngularFromStartX;

这里的imuAngularFromStartY和imuVeloFromStartX都是累积值，但是累积的方式很简单，很粗糙：

imuShiftX[imuPointerLast] = imuShiftX[imuPointerBack] + imuVeloX[imuPointerBack] * timeDiff + accX * timeDiff * timeDiff / 2;
imuShiftY[imuPointerLast] = imuShiftY[imuPointerBack] + imuVeloY[imuPointerBack] * timeDiff + accY * timeDiff * timeDiff / 2;
imuShiftZ[imuPointerLast] = imuShiftZ[imuPointerBack] + imuVeloZ[imuPointerBack] * timeDiff + accZ * timeDiff * timeDiff / 2;
imuVeloX[imuPointerLast] = imuVeloX[imuPointerBack] + accX * timeDiff;
imuVeloY[imuPointerLast] = imuVeloY[imuPointerBack] + accY * timeDiff;
imuVeloZ[imuPointerLast] = imuVeloZ[imuPointerBack] + accZ * timeDiff;

imuAngularRotationX[imuPointerLast] = imuAngularRotationX[imuPointerBack] + imuAngularVeloX[imuPointerBack] * timeDiff;
imuAngularRotationY[imuPointerLast] = imuAngularRotationY[imuPointerBack] + imuAngularVeloY[imuPointerBack] * timeDiff;
imuAngularRotationZ[imuPointerLast] = imuAngularRotationZ[imuPointerBack] + imuAngularVeloZ[imuPointerBack] * timeDiff;

三、更新变换矩阵

updateTransformation()

void updateTransformation(){

        if (laserCloudCornerLastNum < 10 || laserCloudSurfLastNum < 100)
            return;

        for (int iterCount1 = 0; iterCount1 < 25; iterCount1++) {
            laserCloudOri->clear();
            coeffSel->clear();

            findCorrespondingSurfFeatures(iterCount1);

            if (laserCloudOri->points.size() < 10)
                continue;
            if (calculateTransformationSurf(iterCount1) == false)
                break;
        }

        for (int iterCount2 = 0; iterCount2 < 25; iterCount2++) {

            laserCloudOri->clear();
            coeffSel->clear();

            findCorrespondingCornerFeatures(iterCount2);

            if (laserCloud

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