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Jiseoonlim patch 1 #288

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Jiseoonlim patch 1 #288

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92371f8
Update CMakeLists.txt
jiseoonlim Oct 8, 2024
b10bad0
Update utility.h
jiseoonlim Oct 8, 2024
1b2c468
Update mapOptmization.cpp
jiseoonlim Oct 24, 2024
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4 changes: 2 additions & 2 deletions LeGO-LOAM/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.8.3)
project(lego_loam)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3")

find_package(catkin REQUIRED COMPONENTS
tf
Expand Down Expand Up @@ -57,4 +57,4 @@ add_executable(mapOptmization src/mapOptmization.cpp)
target_link_libraries(mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam)

add_executable(transformFusion src/transformFusion.cpp)
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
2 changes: 1 addition & 1 deletion LeGO-LOAM/include/utility.h
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@

#include "cloud_msgs/cloud_info.h"

#include <opencv/cv.h>
#include <opencv2/opencv.hpp>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
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67 changes: 39 additions & 28 deletions LeGO-LOAM/src/mapOptmization.cpp
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Expand Up @@ -722,38 +722,49 @@ class mapOptimization{
}

void visualizeGlobalMapThread(){
ros::Rate rate(0.2);
while (ros::ok()){
rate.sleep();
publishGlobalMap();
}
// save final point cloud
pcl::io::savePCDFileASCII(fileDirectory+"finalCloud.pcd", *globalMapKeyFramesDS);
ROS_INFO("Before.............");

ros::Rate rate(0.2);
while (ros::ok()){
rate.sleep();
publishGlobalMap(); // 계속해서 맵을 퍼블리시
}

string cornerMapString = "/tmp/cornerMap.pcd";
string surfaceMapString = "/tmp/surfaceMap.pcd";
string trajectoryString = "/tmp/trajectory.pcd";
// 루프가 끝난 후 최종 맵 저장
ROS_INFO("Saving final maps.............");

pcl::PointCloud<PointType>::Ptr cornerMapCloud(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr cornerMapCloudDS(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr surfaceMapCloud(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr surfaceMapCloudDS(new pcl::PointCloud<PointType>());

for(int i = 0; i < cornerCloudKeyFrames.size(); i++) {
*cornerMapCloud += *transformPointCloud(cornerCloudKeyFrames[i], &cloudKeyPoses6D->points[i]);
*surfaceMapCloud += *transformPointCloud(surfCloudKeyFrames[i], &cloudKeyPoses6D->points[i]);
*surfaceMapCloud += *transformPointCloud(outlierCloudKeyFrames[i], &cloudKeyPoses6D->points[i]);
}
string cornerMapString = "/tmp/cornerMap.pcd";
string surfaceMapString = "/tmp/surfaceMap.pcd";
string trajectoryString = "/tmp/trajectory.pcd";

downSizeFilterCorner.setInputCloud(cornerMapCloud);
downSizeFilterCorner.filter(*cornerMapCloudDS);
downSizeFilterSurf.setInputCloud(surfaceMapCloud);
downSizeFilterSurf.filter(*surfaceMapCloudDS);
pcl::PointCloud<PointType>::Ptr cornerMapCloud(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr cornerMapCloudDS(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr surfaceMapCloud(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointType>::Ptr surfaceMapCloudDS(new pcl::PointCloud<PointType>());

ROS_INFO("Before for loop.............");

for(int i = 0; i < cornerCloudKeyFrames.size(); i++) {
*cornerMapCloud += *transformPointCloud(cornerCloudKeyFrames[i], &cloudKeyPoses6D->points[i]);
*surfaceMapCloud += *transformPointCloud(surfCloudKeyFrames[i], &cloudKeyPoses6D->points[i]);
*surfaceMapCloud += *transformPointCloud(outlierCloudKeyFrames[i], &cloudKeyPoses6D->points[i]);
}

downSizeFilterCorner.setInputCloud(cornerMapCloud);
downSizeFilterCorner.filter(*cornerMapCloudDS);
downSizeFilterSurf.setInputCloud(surfaceMapCloud);
downSizeFilterSurf.filter(*surfaceMapCloudDS);

pcl::io::savePCDFileASCII(fileDirectory+"cornerMap.pcd", *cornerMapCloudDS);
pcl::io::savePCDFileASCII(fileDirectory+"surfaceMap.pcd", *surfaceMapCloudDS);
pcl::io::savePCDFileASCII(fileDirectory+"trajectory.pcd", *cloudKeyPoses3D);

// 최종 글로벌 맵 저장
pcl::io::savePCDFileASCII(fileDirectory+"finalCloud.pcd", *globalMapKeyFramesDS);

ROS_INFO("Finished saving final map.");
}

pcl::io::savePCDFileASCII(fileDirectory+"cornerMap.pcd", *cornerMapCloudDS);
pcl::io::savePCDFileASCII(fileDirectory+"surfaceMap.pcd", *surfaceMapCloudDS);
pcl::io::savePCDFileASCII(fileDirectory+"trajectory.pcd", *cloudKeyPoses3D);
}

void publishGlobalMap(){

Expand Down