This project forked from wh200720041/floam
Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization (Lidar SLAM)
License: Other
need to use a template typename for the PointT so that we can use this package to output more than just PointXYZL (i.e. XYZI, XYZRGB, XYZRGBI, etc.)
Hey hi!
I see you stopped working on this project a while back, did you end up implementing the support for imaging LiDARs in the end?
right now the classic floam package cannot work with imaging lidars.....make the base lidar class a template and implement two sub classes: imaging and scanning lidar, with room to add more if needed.
clean it up to make it more legible and easily understood
If you don't mind my asking, do you see any potential for GPU-acceleration floam, especially for sensors with higher point densities as VLP-16? I thought you may have a little more insight as the author of this rewrite.
In my understanding, the bottleneck is the Ceres Solver, not the feature extraction. Feature extraction could easily be parallelized IMO, but replacing Ceres with an GPU acclerated solver seems way more involved.
Cheers
clean it up and make it more ledgible
looks like something to do with the calculation of the pose estimation in the odom estimation node is off. could be coordinate frame related.
[ 88%] Building CXX object floam-0.1.0/CMakeFiles/floam_odom_node.dir/src/odom_estimation_node.cpp.o
Requirement already satisfied: inject>=4.0 in /home/wangt/.local/lib/python3.6/site-packages (from -r /home/wangt/catkin_ws/src/mqtt_bridge/requirements.txt (line 1)) (4.3.1)
Requirement already satisfied: msgpack-python>=0.4.8 in /home/wangt/.local/lib/python3.6/site-packages (from -r /home/wangt/catkin_ws/src/mqtt_bridge/requirements.txt (line 2)) (0.5.6)
Requirement already satisfied: paho-mqtt>=1.2 in /home/wangt/.local/lib/python3.6/site-packages (from -r /home/wangt/catkin_ws/src/mqtt_bridge/requirements.txt (line 3)) (1.6.1)
Requirement already satisfied: pymongo in /home/wangt/.local/lib/python3.6/site-packages (from -r /home/wangt/catkin_ws/src/mqtt_bridge/requirements.txt (line 4)) (4.1.1)
[ 88%] Built target install_depends
/home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp: In member function ‘void floam::lidar::ScanningLidarNode::handlePoints(const PointCloud2ConstPtr&)’:
/home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:137:25: error: ‘make_shared’ is not a member of ‘pcl’
auto edge_cond = pcl::make_shared<floam::lidar::GenericCondition<pcl::PointXYZL>>(
^~~~~~~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:137:25: note: suggested alternatives:
In file included from /usr/include/c++/7/memory:81:0,
from /usr/include/c++/7/thread:39,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:12:
/usr/include/c++/7/bits/shared_ptr.h:703:5: note: ‘std::make_shared’
make_shared(_Args&&... __args)
^~~~~~~~~~~
In file included from /usr/include/boost/smart_ptr/make_shared.hpp:17:0,
from /usr/include/boost/make_shared.hpp:14,
from /opt/ros/melodic/include/ros/forwards.h:38,
from /opt/ros/melodic/include/ros/common.h:37,
from /opt/ros/melodic/include/ros/ros.h:43,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:16:
/usr/include/boost/smart_ptr/make_shared_array.hpp:41:1: note: ‘boost::make_shared’
make_shared(std::size_t size,
^~~~~~~~~~~
In file included from /usr/include/c++/7/memory:81:0,
from /usr/include/c++/7/thread:39,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:12:
/usr/include/c++/7/bits/shared_ptr.h:703:5: note: ‘std::make_shared’
make_shared(_Args&&... __args)
^~~~~~~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:137:82: error: expected primary-expression before ‘>’ token
auto edge_cond = pcl::make_shared<floam::lidar::GenericCondition<pcl::PointXYZL>>(
^~
/home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:143:28: error: ‘make_shared’ is not a member of ‘pcl’
auto surface_cond = pcl::make_shared<floam::lidar::GenericCondition<pcl::PointXYZL>>(
^~~~~~~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:143:28: note: suggested alternatives:
In file included from /usr/include/c++/7/memory:81:0,
from /usr/include/c++/7/thread:39,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:12:
/usr/include/c++/7/bits/shared_ptr.h:703:5: note: ‘std::make_shared’
make_shared(_Args&&... __args)
^~~~~~~~~~~
In file included from /usr/include/boost/smart_ptr/make_shared.hpp:17:0,
from /usr/include/boost/make_shared.hpp:14,
from /opt/ros/melodic/include/ros/forwards.h:38,
from /opt/ros/melodic/include/ros/common.h:37,
from /opt/ros/melodic/include/ros/ros.h:43,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:16:
/usr/include/boost/smart_ptr/make_shared_array.hpp:41:1: note: ‘boost::make_shared’
make_shared(std::size_t size,
^~~~~~~~~~~
In file included from /usr/include/c++/7/memory:81:0,
from /usr/include/c++/7/thread:39,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:12:
/usr/include/c++/7/bits/shared_ptr.h:703:5: note: ‘std::make_shared’
make_shared(_Args&&... __args)
^~~~~~~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/lidar_scanner_node.cpp:143:85: error: expected primary-expression before ‘>’ token
auto surface_cond = pcl::make_shared<floam::lidar::GenericCondition<pcl::PointXYZL>>(
^~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp: In member function ‘void floam::odom::OdomEstimationNode::handleClouds(const PointCloud2ConstPtr&, const PointCloud2ConstPtr&)’:
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:102:10: error: ‘std::chrono’ has not been declared
std::chrono::time_point<std::chrono::system_clock> start, end;
^~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:102:34: error: ‘std::chrono’ has not been declared
std::chrono::time_point<std::chrono::system_clock> start, end;
^~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:102:56: error: ‘start’ was not declared in this scope
std::chrono::time_point<std::chrono::system_clock> start, end;
^~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:102:56: note: suggested alternative:
In file included from /opt/ros/melodic/include/ros/node_handle.h:47:0,
from /opt/ros/melodic/include/ros/ros.h:45,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:9:
/opt/ros/melodic/include/ros/init.h:184:18: note: ‘ros::start’
ROSCPP_DECL void start();
^~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:102:63: error: ‘end’ was not declared in this scope
std::chrono::time_point<std::chrono::system_clock> start, end;
^~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:102:63: note: suggested alternatives:
In file included from /usr/include/c++/7/string:51:0,
from /opt/ros/melodic/include/ros/platform.h:38,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:9:
/usr/include/c++/7/bits/range_access.h:107:37: note: ‘std::end’
template<typename _Tp> const _Tp* end(const valarray<_Tp>&);
^~~
In file included from /usr/include/boost/range/functions.hpp:19:0,
from /usr/include/boost/range/iterator_range_core.hpp:38,
from /usr/include/boost/lexical_cast.hpp:30,
from /opt/ros/melodic/include/ros/transport_hints.h:34,
from /opt/ros/melodic/include/ros/subscribe_options.h:33,
from /opt/ros/melodic/include/ros/node_handle.h:42,
from /opt/ros/melodic/include/ros/ros.h:45,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:9:
/usr/include/boost/range/end.hpp:100:61: note: ‘boost::range_adl_barrier::end’
inline BOOST_DEDUCED_TYPENAME range_iterator<const T>::type end( const T& r )
^~~
In file included from /usr/include/boost/mpl/list/aux_/begin_end.hpp:17:0,
from /usr/include/boost/mpl/list/list0.hpp:27,
from /usr/include/boost/mpl/list/list10.hpp:18,
from /usr/include/boost/mpl/list/list20.hpp:18,
from /usr/include/boost/mpl/list.hpp:36,
from /usr/include/boost/math/policies/policy.hpp:9,
from /usr/include/boost/math/policies/error_handling.hpp:21,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/melodic/include/ros/time.h:58,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:9:
/usr/include/boost/mpl/begin_end_fwd.hpp:23:38: note: ‘boost::mpl::end’
template< typename Sequence > struct end;
^~~
In file included from /usr/include/boost/range/functions.hpp:19:0,
from /usr/include/boost/range/iterator_range_core.hpp:38,
from /usr/include/boost/lexical_cast.hpp:30,
from /opt/ros/melodic/include/ros/transport_hints.h:34,
from /opt/ros/melodic/include/ros/subscribe_options.h:33,
from /opt/ros/melodic/include/ros/node_handle.h:42,
from /opt/ros/melodic/include/ros/ros.h:45,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:9:
/usr/include/boost/range/end.hpp:100:61: note: ‘boost::range_adl_barrier::end’
inline BOOST_DEDUCED_TYPENAME range_iterator<const T>::type end( const T& r )
^~~
In file included from /usr/include/pcl-1.8/pcl/conversions.h:56:0,
from /opt/ros/melodic/include/pcl_conversions/pcl_conversions.h:44,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:17:
/usr/include/boost/foreach.hpp:729:1: note: ‘boost::foreach_detail_::end’
end(auto_any_t, type2type<T *, C> *, boost::mpl::true_ *) // null-terminated C-style strings
^~~
In file included from /usr/include/boost/filesystem.hpp:17:0,
from /usr/include/pcl-1.8/pcl/io/boost.h:53,
from /usr/include/pcl-1.8/pcl/io/file_io.h:43,
from /usr/include/pcl-1.8/pcl/io/pcd_io.h:44,
from /opt/ros/melodic/include/pcl_conversions/pcl_conversions.h:70,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:17:
/usr/include/boost/filesystem/operations.hpp:1309:32: note: ‘boost::filesystem::end’
recursive_directory_iterator end(const recursive_directory_iterator&) BOOST_NOEXCEPT
^~~
In file included from /usr/include/boost/fusion/container/list/cons.hpp:17:0,
from /usr/include/boost/fusion/iterator/segmented_iterator.hpp:14,
from /usr/include/boost/fusion/sequence/intrinsic/detail/segmented_begin.hpp:12,
from /usr/include/boost/fusion/sequence/intrinsic/begin.hpp:18,
from /usr/include/boost/fusion/algorithm/query/detail/find_if.hpp:22,
from /usr/include/boost/fusion/algorithm/query/find.hpp:13,
from /usr/include/boost/fusion/sequence/intrinsic/has_key.hpp:14,
from /usr/include/boost/fusion/sequence/intrinsic/at_key.hpp:14,
from /usr/include/pcl-1.8/pcl/filters/boost.h:56,
from /usr/include/pcl-1.8/pcl/filters/filter.h:46,
from /home/wangt/catkin_ws/src/floam-0.1.0/include/floam/odom_estimation.hpp:19,
from /home/wangt/catkin_ws/src/floam-0.1.0/include/floam/odom_estimation_node.hpp:23,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:22:
/usr/include/boost/fusion/sequence/intrinsic/end.hpp:92:5: note: ‘boost::fusion::end’
end(Sequence const& seq)
^~~
In file included from /usr/include/boost/fusion/sequence/intrinsic/at_key.hpp:13:0,
from /usr/include/pcl-1.8/pcl/filters/boost.h:56,
from /usr/include/pcl-1.8/pcl/filters/filter.h:46,
from /home/wangt/catkin_ws/src/floam-0.1.0/include/floam/odom_estimation.hpp:19,
from /home/wangt/catkin_ws/src/floam-0.1.0/include/floam/odom_estimation_node.hpp:23,
from /home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:22:
/usr/include/boost/fusion/sequence/intrinsic_fwd.hpp:68:16: note: ‘boost::fusion::result_of::end’
struct end;
^~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:103:18: error: ‘std::chrono’ has not been declared
start = std::chrono::system_clock::now();
^~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:105:16: error: ‘std::chrono’ has not been declared
end = std::chrono::system_clock::now();
^~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:107:10: error: ‘std::chrono’ has not been declared
std::chrono::duration<float> elapsed_seconds = end - start;
^~~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:107:27: error: expected primary-expression before ‘float’
std::chrono::duration<float> elapsed_seconds = end - start;
^~~~~
/home/wangt/catkin_ws/src/floam-0.1.0/src/odom_estimation_node.cpp:109:23: error: ‘elapsed_seconds’ was not declared in this scope
float time_temp = elapsed_seconds.count() * 1000;
^~~~~~~~~~~~~~~
floam-0.1.0/CMakeFiles/floam_lidar_node.dir/build.make:86: recipe for target 'floam-0.1.0/CMakeFiles/floam_lidar_node.dir/src/lidar_scanner_node.cpp.o' failed
make[2]: *** [floam-0.1.0/CMakeFiles/floam_lidar_node.dir/src/lidar_scanner_node.cpp.o] Error 1
CMakeFiles/Makefile2:3172: recipe for target 'floam-0.1.0/CMakeFiles/floam_lidar_node.dir/all' failed
make[1]: *** [floam-0.1.0/CMakeFiles/floam_lidar_node.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
floam-0.1.0/CMakeFiles/floam_odom_node.dir/build.make:62: recipe for target 'floam-0.1.0/CMakeFiles/floam_odom_node.dir/src/odom_estimation_node.cpp.o' failed
make[2]: *** [floam-0.1.0/CMakeFiles/floam_odom_node.dir/src/odom_estimation_node.cpp.o] Error 1
CMakeFiles/Makefile2:1845: recipe for target 'floam-0.1.0/CMakeFiles/floam_odom_node.dir/all' failed
make[1]: *** [floam-0.1.0/CMakeFiles/floam_odom_node.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
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