3D-激光SLAM笔记

目录

定位方案

编译tbb

ros2humble安装

命令 colcon commond not found

栅格地图生成：

evo画轨迹曲线

安装gtsam4.0.2

安装ceres-solver1.14.0

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定位方案

1 方案一：改动最多
fasterlio 建图，加闭环优化，参考fast-lio增加关键帧
定位: 用读入pcd点云，创建体素ivox结构地图，用ieskf ikfom ivox结构紧耦合匹配输出位姿
重定位：用读入pcd点云，创建体素ivox结构，给定初始位姿用ieskf定位
栅格地图生成：用octomap mapserver生成，离线。或改为在线生成。
2 方案二：直接测试
建图：fastlio 建图，fast-lio-slam 包含闭环和优化
定位/重定位：用fast-lio-localization包含定位功能，配合open3d
栅格地图生成：用octomap mapserver生成，离线。或改为在线生成。
3 方案三：改动多
建图：fasterlio,加闭环优化，参考fast-lio增加关键帧
定位重定位：参考《自动驾驶与机器人中的slam技术》十讲，进行前端融合。
栅格地图生成：用octomap mapserver生成，离线。或改为在线生成。
4 方案四：入门级别
建图、定位、重定位：参考《自动驾驶与机器人中的slam技术》九讲十讲
栅格地图生成：用octomap mapserver生成，离线。或改为在线生成。

编译tbb

make compiler=gcc-9 stdver=c++17 tbb_build_prefix=my_tbb_build

sudo mkdir /usr/local/oneTBB-2019_U8

sudo cp -r include /usr/local/oneTBB-2019_U8/include

sudo ln -s /usr/local/oneTBB-2019_U8/include/tbb /usr/local/include/tbb

sudo cp -r build/my_tbb_build_release /usr/local/oneTBB-2019_U8/lib

sudo ln -s /usr/local/oneTBB-2019_U8/lib/libtbb.so.2 /usr/local/lib/libtbb.so

sudo ln -s /usr/local/oneTBB-2019_U8/lib/libtbbmalloc.so.2 /usr/local/lib/libtbbmalloc.so

sudo ln -s /usr/local/oneTBB-2019_U8/lib/libtbbmalloc_proxy.so.2      /usr/local/lib/libtbbmalloc_proxy.so

echo 'export LD_LIBRARY_PATH=/usr/local/oneTBB-2019_U8/lib:$LD_LIBRARY_PATH'  >>      ~/.bashrc

source ~/.bashrc

/usr/local/lib/libtbb.so
/usr/local/lib/libtbbmalloc.so
/usr/local/lib/libtbbmalloc_proxy.so

ros2humble安装

1.首先将本地的编码格式修改为utf-8
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

2.添加ROS2 GPG key
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3.安装ROS2
sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc 
source ~/.bashrc  #使环境生效

wget http://fishros.com/install -O fishros && . fishros
 rosdepc update

命令 colcon commond not found

 pip3 install -U colcon-common-extensions
 sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-pip \
  python-rosdep \
  python3-vcstool

栅格地图生成：

octomap 安装
sudo apt-get install ros-melodic-octomap-ros
sudo apt-get install ros-melodic-octomap-msgs
sudo apt-get install ros-melodic-octomap-server
sudo apt-get install ros-melodic-octomap-rviz-plugins

map_server 安装
sudo apt-get install ros-melodic-map-server
 

evo画轨迹曲线

 tum格式是 time x y z qx qy qz qw   KITTI格式的数据通常是一个4x4的变换矩阵 ‌   不包含时间戳
pip install evo --upgrade --no-binary evo

evo_traj tum --ref=gt.txt 1.txt 2.txt 3.txt  -a  -p  --save_plot  ./output.pdf
evo_traj tum --ref=traj.txt optimized_poses.txt  -a  -p  --save_plot  ./output.pdf
evo_traj tum traj.txt  -a  -p  --save_plot  ./output.pdf
轨迹对比
evo_traj tum --ref=bef.txt aft.txt  -a  -p  --save_plot  ./output.pdf
绝对差
evo_ape tum bef.txt aft.txt   -va -p 

安装gtsam4.0.2

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.2/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j4

安装ceres-solver1.14.0

sudo apt-get install -y libgoogle-glog-dev
sudo apt-get install -y libatlas-base-dev
wget -O ~/Downloads/ceres.zip https://github.com/ceres-solver/ceres-solver/archive/1.14.0.zip
cd ~/Downloads/ && unzip ceres.zip -d ~/Downloads/
cd ~/Downloads/ceres-solver-1.14.0
mkdir ceres-bin && cd ceres-bin
cmake ..
sudo make install -j4