From 979c7a22504da91b35debd74320b090c43560de2 Mon Sep 17 00:00:00 2001 From: admin1 Date: Sun, 28 Aug 2022 22:25:47 +0300 Subject: [PATCH] gps fusion implemented --- cubes_data.txt | 232 + cubes_data_raw.txt | 229 + global_fusion/CMakeLists.txt | 39 + .../Thirdparty/GeographicLib/CMakeLists.txt | 36 + .../Thirdparty/GeographicLib/include/Config.h | 12 + .../GeographicLib/include/Constants.hpp | 403 + .../GeographicLib/include/Geocentric.hpp | 267 + .../GeographicLib/include/LocalCartesian.hpp | 236 + .../Thirdparty/GeographicLib/include/Math.hpp | 945 + .../GeographicLib/src/Geocentric.cpp | 172 + .../GeographicLib/src/LocalCartesian.cpp | 62 + .../Thirdparty/GeographicLib/src/Math.cpp | 63 + global_fusion/data/vio_global.csv | 128026 +++++++++++++++ global_fusion/launch/global_fusion.launch | 6 + .../launch/global_fusion_kitti.launch | 6 + global_fusion/package.xml | 38 + global_fusion/src/Factors.h | 122 + global_fusion/src/KITTIGPSTest.cpp | 188 + global_fusion/src/globalOpt.cpp | 255 + global_fusion/src/globalOpt.h | 66 + global_fusion/src/globalOptNode.cpp | 203 + global_fusion/src/tic_toc.h | 47 + ov_msckf/launch/subscribe_kitti.launch | 94 + ov_msckf/src/imrender_combine.cpp | 6 +- ov_msckf/src/render_cubes.cpp | 365 +- ov_msckf/src/ros/ROS1Visualizer.cpp | 139 +- ov_msckf/src/ros/ROS1Visualizer.h | 4 +- 27 files changed, 132151 insertions(+), 110 deletions(-) create mode 100644 cubes_data.txt create mode 100644 cubes_data_raw.txt create mode 100644 global_fusion/CMakeLists.txt create mode 100644 global_fusion/Thirdparty/GeographicLib/CMakeLists.txt create mode 100644 global_fusion/Thirdparty/GeographicLib/include/Config.h create mode 100644 global_fusion/Thirdparty/GeographicLib/include/Constants.hpp create mode 100644 global_fusion/Thirdparty/GeographicLib/include/Geocentric.hpp create mode 100644 global_fusion/Thirdparty/GeographicLib/include/LocalCartesian.hpp create mode 100644 global_fusion/Thirdparty/GeographicLib/include/Math.hpp create mode 100644 global_fusion/Thirdparty/GeographicLib/src/Geocentric.cpp create mode 100644 global_fusion/Thirdparty/GeographicLib/src/LocalCartesian.cpp create mode 100644 global_fusion/Thirdparty/GeographicLib/src/Math.cpp create mode 100644 global_fusion/data/vio_global.csv create mode 100644 global_fusion/launch/global_fusion.launch create mode 100644 global_fusion/launch/global_fusion_kitti.launch create mode 100644 global_fusion/package.xml create mode 100644 global_fusion/src/Factors.h create mode 100644 global_fusion/src/KITTIGPSTest.cpp create mode 100644 global_fusion/src/globalOpt.cpp create mode 100644 global_fusion/src/globalOpt.h create mode 100644 global_fusion/src/globalOptNode.cpp create mode 100644 global_fusion/src/tic_toc.h create mode 100644 ov_msckf/launch/subscribe_kitti.launch diff --git a/cubes_data.txt b/cubes_data.txt new file mode 100644 index 0000000..e051444 --- /dev/null +++ b/cubes_data.txt @@ -0,0 +1,232 @@ +{ +{-5.473, 15.819, 0.000}, + +{-15.586, 25.062, 0.000}, + +{-22.395, 43.562, 0.000}, + +{-36.035, 50.009, 0.000}, + +{-41.113, 62.946, 0.000}, + +{-47.675, 62.477, 0.000}, + +{-56.081, 76.612, 0.000}, + +{-68.155, 82.382, 0.000}, + +{-76.903, 97.032, 0.000}, + +{-93.218, 103.532, 0.000}, + +{-121.903, 137.353, 0.000}, + +{-134.567, 140.840, 0.000}, + +{-158.030, 169.709, 0.000}, + +{-170.521, 177.370, 0.000}, + +{-225.440, 236.153, 0.000}, + +{-259.810, 259.846, 0.000}, + +{-287.220, 297.381, 0.000}, + +{-313.876, 312.375, 0.000}, + +{-446.905, 450.175, 0.000}, + +{-489.056, 477.187, 0.000}, + +{-544.828, 555.099, 0.000}, + +{-568.349, 556.457, 0.000}, + +{-638.075, 643.542, 0.000}, + +{-702.377, 676.867, 0.000}, + +{-753.507, 750.003, 0.000}, + +{-807.197, 768.580, 0.000}, + +{-863.780, 829.878, 0.000}, + +{-877.002, 860.185, 0.000}, + +{-905.568, 864.266, 0.000}, + +{-915.407, 887.186, 0.000}, + +{-931.954, 899.596, 0.000}, + +{-936.091, 907.870, 0.000}, + +{-971.656, 952.685, 0.000}, + +{-1012.476, 947.723, 0.000}, + + +{-1016.629, 985.880, 0.000}, + +{-1065.223, 987.986, 0.000}, + +{-1078.723, 1012.979, 0.000}, + +{-1145.907, 1035.300, 0.000}, + +{-1234.198, 1116.285, 0.000}, + +{-1338.651, 1152.282, 0.000}, + +{-1422.556, 1202.064, 0.000}, + +{-1488.881, 1208.139, 0.000}, + +{-1613.822, 1281.229, 0.000}, + +{-1682.561, 1274.593, 0.000}, + +{-1927.827, 1384.315, 0.000}, + +{-2035.692, 1400.027, 0.000}, + +{-2224.536, 1462.204, 0.000}, + +{-2313.168, 1458.187, 0.000}, + +{-2436.409, 1496.333, 0.000}, + +{-2503.565, 1473.606, 0.000}, + +{-2605.994, 1481.901, 0.000}, + +{-2563.683, 1431.523, 0.000}, + +{-2599.753, 1395.453, 0.000}, + +{-2679.961, 1407.933, 0.000}, + +{-2630.649, 1438.753, 0.000}, + +{-2581.338, 1506.557, 0.000}, + +{-2528.483, 1197.294, 0.000}, + +{-2553.878, 1178.248, 0.000}, + +{-2553.878, 1108.412, 0.000}, + +{-2450.511, 1023.108, 0.000}, + +{-2450.511, 967.579, 0.000}, + +{-2437.486, 890.971, 0.000}, + +{-2450.511, 819.504, 0.000}, + +{-2365.134, 690.688, 0.000}, + +{-2296.590, 541.293, 0.000}, + +{-2283.679, 620.835, 0.000}, + +{-2151.879, 318.478, 0.000}, + +{-2176.409, 287.816, 0.000}, + +{-2102.820, 251.022, 0.000}, + +{-2127.350, 189.698, 0.000}, + +{-2028.905, 122.896, 0.000}, + +{-2046.821, 66.008, 0.000}, + +{-1958.025, 1.247, 0.000}, + +{-1886.644, -52.849, 0.000}, + +{-1863.596, -64.373, 0.000}, + +{-1783.239, -134.282, 0.000}, + +{-1705.906, -151.254, 0.000}, + +{-1617.356, -206.598, 0.000}, + +{-1565.032, -222.410, 0.000}, + +{-1465.740, -282.723, 0.000}, + +{-1361.237, -309.086, 0.000}, + +{-1276.829, -355.967, 0.000}, + +{-1236.832, -350.967, 0.000}, + +{-1170.082, -368.522, 0.000}, + +{-1145.877, -386.675, 0.000}, + +{-1133.776, -374.573, 0.000}, + +{-1064.985, -381.088, 0.000}, + +{-1060.602, -409.499, 0.000}, + +{-943.535, -368.153, 0.000}, + +{-852.780, -365.980, 0.000}, + +{-747.917, -375.279, 0.000}, + +{-694.244, -346.169, 0.000}, + +{-724.264, -360.724, 0.000}, + +{-601.465, -334.072, 0.000}, + +{-557.205, -336.465, 0.000}, + +{-564.189, -332.895, 0.000}, + +{-520.468, -340.201, 0.000}, + +{-476.908, -317.140, 0.000}, + +{-417.040, -318.781, 0.000}, + +{-377.842, -296.022, 0.000}, + +{-309.273, -302.223, 0.000}, + +{-267.572, -281.072, 0.000}, + +{-233.495, -287.929, 0.000}, + +{-211.795, -257.754, 0.000}, + +{-209.412, -234.544, 0.000}, + +{-144.978, -252.842, 0.000}, + +{-86.550, -255.100, 0.000}, + +{-57.889, -200.404, 0.000}, + +{-12.395, -168.373, 0.000}, + +{-8.988, -117.709, 0.000}, + +{-5.494, -73.048, 0.000}, + +{12.541, -24.783, 0.000}, + +{-8.001, 22.391, 0.000}, + +{-7.999, -85.193, 0.000}, + +{-61.402, 98.350, 0.000} +} diff --git a/cubes_data_raw.txt b/cubes_data_raw.txt new file mode 100644 index 0000000..6b7abd7 --- /dev/null +++ b/cubes_data_raw.txt @@ -0,0 +1,229 @@ +[ INFO] [1661681758.542538804]: Setting goal: Frame:global, Position(-5,473, 15,819, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681761.366104427]: Setting goal: Frame:global, Position(-15,586, 25,062, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681763.725180091]: Setting goal: Frame:global, Position(-22,395, 43,562, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681767.070619773]: Setting goal: Frame:global, Position(-36,035, 50,009, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681769.626612777]: Setting goal: Frame:global, Position(-41,113, 62,946, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681772.109520946]: Setting goal: Frame:global, Position(-47,675, 62,477, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681774.112724899]: Setting goal: Frame:global, Position(-56,081, 76,612, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681777.302217201]: Setting goal: Frame:global, Position(-68,155, 82,382, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681779.861960488]: Setting goal: Frame:global, Position(-76,903, 97,032, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681782.800923288]: Setting goal: Frame:global, Position(-93,218, 103,532, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681785.718310396]: Setting goal: Frame:global, Position(-121,903, 137,353, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681787.896060892]: Setting goal: Frame:global, Position(-134,567, 140,840, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681790.588332526]: Setting goal: Frame:global, Position(-158,030, 169,709, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681793.814911800]: Setting goal: Frame:global, Position(-170,521, 177,370, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681797.723063981]: Setting goal: Frame:global, Position(-225,440, 236,153, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681799.701969454]: Setting goal: Frame:global, Position(-259,810, 259,846, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681802.030425810]: Setting goal: Frame:global, Position(-287,220, 297,381, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681803.991512869]: Setting goal: Frame:global, Position(-313,876, 312,375, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681808.052154432]: Setting goal: Frame:global, Position(-446,905, 450,175, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681810.418569814]: Setting goal: Frame:global, Position(-489,056, 477,187, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681812.432212612]: Setting goal: Frame:global, Position(-544,828, 555,099, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681814.265249289]: Setting goal: Frame:global, Position(-568,349, 556,457, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681816.377320247]: Setting goal: Frame:global, Position(-638,075, 643,542, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681818.254672277]: Setting goal: Frame:global, Position(-702,377, 676,867, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681819.856601473]: Setting goal: Frame:global, Position(-753,507, 750,003, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681823.198940409]: Setting goal: Frame:global, Position(-807,197, 768,580, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681826.688902486]: Setting goal: Frame:global, Position(-863,780, 829,878, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681829.149484447]: Setting goal: Frame:global, Position(-877,002, 860,185, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681834.754228929]: Setting goal: Frame:global, Position(-905,568, 864,266, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681836.884455530]: Setting goal: Frame:global, Position(-915,407, 887,186, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681840.089902108]: Setting goal: Frame:global, Position(-931,954, 899,596, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681842.834586387]: Setting goal: Frame:global, Position(-936,091, 907,870, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681864.902074094]: Setting goal: Frame:global, Position(-971,656, 952,685, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661681866.697015512]: Setting goal: Frame:global, Position(-1012,476, 947,723, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632127.852490740]: Setting goal: Frame:global, Position(-1016,629, 985,880, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632132.184678829]: Setting goal: Frame:global, Position(-1065,223, 987,986, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632136.124920122]: Setting goal: Frame:global, Position(-1078,723, 1012,979, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632138.984009160]: Setting goal: Frame:global, Position(-1145,907, 1035,300, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632141.946256550]: Setting goal: Frame:global, Position(-1234,198, 1116,285, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632145.759114091]: Setting goal: Frame:global, Position(-1338,651, 1152,282, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632150.011012866]: Setting goal: Frame:global, Position(-1422,556, 1202,064, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632153.716795166]: Setting goal: Frame:global, Position(-1488,881, 1208,139, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632161.896759115]: Setting goal: Frame:global, Position(-1613,822, 1281,229, 0,000), Orientation(0,000, 0,000, -0,424, 0,906) = Angle: -0,876 + +[ INFO] [1661632164.281107195]: Setting goal: Frame:global, Position(-1682,561, 1274,593, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632167.458584482]: Setting goal: Frame:global, Position(-1927,827, 1384,315, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632169.913266535]: Setting goal: Frame:global, Position(-2035,692, 1400,027, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632173.307407310]: Setting goal: Frame:global, Position(-2224,536, 1462,204, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632176.351214609]: Setting goal: Frame:global, Position(-2313,168, 1458,187, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632178.555881179]: Setting goal: Frame:global, Position(-2436,409, 1496,333, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632181.142276742]: Setting goal: Frame:global, Position(-2503,565, 1473,606, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632184.598631613]: Setting goal: Frame:global, Position(-2605,994, 1481,901, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632186.871425127]: Setting goal: Frame:global, Position(-2563,683, 1431,523, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632190.036524941]: Setting goal: Frame:global, Position(-2599,753, 1395,453, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632192.308387207]: Setting goal: Frame:global, Position(-2679,961, 1407,933, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632194.107661072]: Setting goal: Frame:global, Position(-2630,649, 1438,753, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632197.652973828]: Setting goal: Frame:global, Position(-2581,338, 1506,557, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632214.582124274]: Setting goal: Frame:global, Position(-2528,483, 1197,294, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632217.238021932]: Setting goal: Frame:global, Position(-2553,878, 1178,248, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632220.141462575]: Setting goal: Frame:global, Position(-2553,878, 1108,412, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632223.218969221]: Setting goal: Frame:global, Position(-2450,511, 1023,108, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632226.331857599]: Setting goal: Frame:global, Position(-2450,511, 967,579, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632228.970472284]: Setting goal: Frame:global, Position(-2437,486, 890,971, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632231.916169640]: Setting goal: Frame:global, Position(-2450,511, 819,504, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632234.836929434]: Setting goal: Frame:global, Position(-2365,134, 690,688, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632237.302645790]: Setting goal: Frame:global, Position(-2296,590, 541,293, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632239.792049222]: Setting goal: Frame:global, Position(-2283,679, 620,835, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632246.224784100]: Setting goal: Frame:global, Position(-2151,879, 318,478, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632250.234365944]: Setting goal: Frame:global, Position(-2176,409, 287,816, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632252.310166616]: Setting goal: Frame:global, Position(-2102,820, 251,022, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632255.149335470]: Setting goal: Frame:global, Position(-2127,350, 189,698, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632258.932289901]: Setting goal: Frame:global, Position(-2028,905, 122,896, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632263.144988177]: Setting goal: Frame:global, Position(-2046,821, 66,008, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632266.190110230]: Setting goal: Frame:global, Position(-1958,025, 1,247, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632269.561415294]: Setting goal: Frame:global, Position(-1886,644, -52,849, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632273.841288193]: Setting goal: Frame:global, Position(-1863,596, -64,373, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632277.266957976]: Setting goal: Frame:global, Position(-1783,239, -134,282, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632280.305223489]: Setting goal: Frame:global, Position(-1705,906, -151,254, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632283.186066798]: Setting goal: Frame:global, Position(-1617,356, -206,598, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632285.362086849]: Setting goal: Frame:global, Position(-1565,032, -222,410, 0,000), 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0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632493.780854085]: Setting goal: Frame:global, Position(12,541, -24,783, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632498.982292442]: Setting goal: Frame:global, Position(-8,001, 22,391, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632503.438900266]: Setting goal: Frame:global, Position(-7,999, -85,193, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 + +[ INFO] [1661632508.194052203]: Setting goal: Frame:global, Position(-61,402, 98,350, 0,000), Orientation(0,000, 0,000, 0,000, 1,000) = Angle: 0,000 diff --git a/global_fusion/CMakeLists.txt b/global_fusion/CMakeLists.txt new file mode 100644 index 0000000..8fffecc --- /dev/null +++ b/global_fusion/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 2.8.3) +project(global_fusion) + +set(CMAKE_BUILD_TYPE "Debug") +set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS_DEBUG "-O3 -Wall -g") + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + rosbag + tf + std_msgs + geometry_msgs + sensor_msgs + nav_msgs +) + +find_package(Ceres REQUIRED) + +add_subdirectory(./Thirdparty/GeographicLib/) + +include_directories( + ${catkin_INCLUDE_DIRS} + ${CERES_INCLUDE_DIRS} + ./Thirdparty/GeographicLib/include/ +) + +catkin_package() + +add_executable(global_fusion_node + src/globalOptNode.cpp + src/globalOpt.cpp +# src/KITTIGPSTest.cpp +) + + +target_link_libraries(global_fusion_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} libGeographiccc) diff --git a/global_fusion/Thirdparty/GeographicLib/CMakeLists.txt b/global_fusion/Thirdparty/GeographicLib/CMakeLists.txt new file mode 100644 index 0000000..e26e5f6 --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/CMakeLists.txt @@ -0,0 +1,36 @@ +project (GeographicLib) + +# Version information +set (PROJECT_VERSION_MAJOR 1) +set (PROJECT_VERSION_MINOR 49) +set (PROJECT_VERSION_PATCH 0) +set (PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}") +if (PROJECT_VERSION_PATCH GREATER 0) + set (PROJECT_VERSION "${PROJECT_VERSION}.${PROJECT_VERSION_PATCH}") +endif () + +# The library version tracks the numbering given by libtool in the +# autoconf set up. +set (LIBVERSION_API 17) +set (LIBVERSION_BUILD 17.1.2) +string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER) +string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER) + +cmake_minimum_required (VERSION 2.8.4) # This version was released 2011-02-16 + +# (7) Set the default "real" precision. This should probably be left +# at 2 (double). +set (GEOGRAPHICLIB_PRECISION 2 CACHE STRING + "Precision: 1 = float, 2 = double, 3 = extended, 4 = quadruple, 5 = variable") +set_property (CACHE GEOGRAPHICLIB_PRECISION PROPERTY STRINGS 1 2 3 4 5) + + +set (LIBNAME Geographic) + +include_directories( + ./include/ +) + +add_library(libGeographiccc src/LocalCartesian.cpp + src/Geocentric.cpp + src/Math.cpp) \ No newline at end of file diff --git a/global_fusion/Thirdparty/GeographicLib/include/Config.h b/global_fusion/Thirdparty/GeographicLib/include/Config.h new file mode 100644 index 0000000..5611465 --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/include/Config.h @@ -0,0 +1,12 @@ +// This will be overwritten by ./configure + +#define GEOGRAPHICLIB_VERSION_STRING "1.49" +#define GEOGRAPHICLIB_VERSION_MAJOR 1 +#define GEOGRAPHICLIB_VERSION_MINOR 49 +#define GEOGRAPHICLIB_VERSION_PATCH 0 + +// Undefine HAVE_LONG_DOUBLE if this type is unknown to the compiler +#define GEOGRAPHICLIB_HAVE_LONG_DOUBLE 1 + +// Define WORDS_BIGENDIAN to be 1 if your machine is big endian +/* #undef WORDS_BIGENDIAN */ diff --git a/global_fusion/Thirdparty/GeographicLib/include/Constants.hpp b/global_fusion/Thirdparty/GeographicLib/include/Constants.hpp new file mode 100644 index 0000000..a0d2fd5 --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/include/Constants.hpp @@ -0,0 +1,403 @@ +/** + * \file Constants.hpp + * \brief Header for GeographicLib::Constants class + * + * Copyright (c) Charles Karney (2008-2016) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#if !defined(GEOGRAPHICLIB_CONSTANTS_HPP) +#define GEOGRAPHICLIB_CONSTANTS_HPP 1 + +#include "Config.h" + +/** + * @relates GeographicLib::Constants + * Pack the version components into a single integer. Users should not rely on + * this particular packing of the components of the version number; see the + * documentation for GEOGRAPHICLIB_VERSION, below. + **********************************************************************/ +#define GEOGRAPHICLIB_VERSION_NUM(a,b,c) ((((a) * 10000 + (b)) * 100) + (c)) + +/** + * @relates GeographicLib::Constants + * The version of GeographicLib as a single integer, packed as MMmmmmpp where + * MM is the major version, mmmm is the minor version, and pp is the patch + * level. Users should not rely on this particular packing of the components + * of the version number. Instead they should use a test such as \code + #if GEOGRAPHICLIB_VERSION >= GEOGRAPHICLIB_VERSION_NUM(1,37,0) + ... + #endif + * \endcode + **********************************************************************/ +#define GEOGRAPHICLIB_VERSION \ + GEOGRAPHICLIB_VERSION_NUM(GEOGRAPHICLIB_VERSION_MAJOR, \ + GEOGRAPHICLIB_VERSION_MINOR, \ + GEOGRAPHICLIB_VERSION_PATCH) + +/** + * @relates GeographicLib::Constants + * Is the C++11 static_assert available? + **********************************************************************/ +#if !defined(GEOGRAPHICLIB_HAS_STATIC_ASSERT) +# if __cplusplus >= 201103 || defined(__GXX_EXPERIMENTAL_CXX0X__) +# define GEOGRAPHICLIB_HAS_STATIC_ASSERT 1 +# elif defined(_MSC_VER) && _MSC_VER >= 1600 +// For reference, here is a table of Visual Studio and _MSC_VER +// correspondences: +// +// _MSC_VER Visual Studio +// 1100 vc5 +// 1200 vc6 +// 1300 vc7 +// 1310 vc7.1 (2003) +// 1400 vc8 (2005) +// 1500 vc9 (2008) +// 1600 vc10 (2010) +// 1700 vc11 (2012) +// 1800 vc12 (2013) +// 1900 vc14 (2015) +// 1910+ vc15 (2017) +# define GEOGRAPHICLIB_HAS_STATIC_ASSERT 1 +# else +# define GEOGRAPHICLIB_HAS_STATIC_ASSERT 0 +# endif +#endif + +/** + * @relates GeographicLib::Constants + * A compile-time assert. Use C++11 static_assert, if available. + **********************************************************************/ +#if !defined(GEOGRAPHICLIB_STATIC_ASSERT) +# if GEOGRAPHICLIB_HAS_STATIC_ASSERT +# define GEOGRAPHICLIB_STATIC_ASSERT static_assert +# else +# define GEOGRAPHICLIB_STATIC_ASSERT(cond,reason) \ + { enum{ GEOGRAPHICLIB_STATIC_ASSERT_ENUM = 1/int(cond) }; } +# endif +#endif + +#if defined(_MSC_VER) && defined(GEOGRAPHICLIB_SHARED_LIB) && \ + GEOGRAPHICLIB_SHARED_LIB +# if GEOGRAPHICLIB_SHARED_LIB > 1 +# error GEOGRAPHICLIB_SHARED_LIB must be 0 or 1 +# elif defined(GeographicLib_EXPORTS) +# define GEOGRAPHICLIB_EXPORT __declspec(dllexport) +# else +# define GEOGRAPHICLIB_EXPORT __declspec(dllimport) +# endif +#else +# define GEOGRAPHICLIB_EXPORT +#endif + +// Use GEOGRAPHICLIB_DEPRECATED to mark functions, types or variables as +// deprecated. Code inspired by Apache Subversion's svn_types.h file (via +// MPFR). +#if defined(__GNUC__) +# if __GNUC__ > 4 +# define GEOGRAPHICLIB_DEPRECATED(msg) __attribute__((deprecated(msg))) +# else +# define GEOGRAPHICLIB_DEPRECATED(msg) __attribute__((deprecated)) +# endif +#elif defined(_MSC_VER) && _MSC_VER >= 1300 +# define GEOGRAPHICLIB_DEPRECATED(msg) __declspec(deprecated(msg)) +#else +# define GEOGRAPHICLIB_DEPRECATED(msg) +#endif + +#include +#include +#include "Math.hpp" + +/** + * \brief Namespace for %GeographicLib + * + * All of %GeographicLib is defined within the GeographicLib namespace. In + * addition all the header files are included via %GeographicLib/Class.hpp. + * This minimizes the likelihood of conflicts with other packages. + **********************************************************************/ +namespace GeographicLib { + + /** + * \brief %Constants needed by %GeographicLib + * + * Define constants specifying the WGS84 ellipsoid, the UTM and UPS + * projections, and various unit conversions. + * + * Example of use: + * \include example-Constants.cpp + **********************************************************************/ + class GEOGRAPHICLIB_EXPORT Constants { + private: + typedef Math::real real; + Constants(); // Disable constructor + + public: + /** + * A synonym for Math::degree(). + **********************************************************************/ + static Math::real degree() { return Math::degree(); } + /** + * @return the number of radians in an arcminute. + **********************************************************************/ + static Math::real arcminute() + { return Math::degree() / 60; } + /** + * @return the number of radians in an arcsecond. + **********************************************************************/ + static Math::real arcsecond() + { return Math::degree() / 3600; } + + /** \name Ellipsoid parameters + **********************************************************************/ + ///@{ + /** + * @tparam T the type of the returned value. + * @return the equatorial radius of WGS84 ellipsoid (6378137 m). + **********************************************************************/ + template static T WGS84_a() + { return 6378137 * meter(); } + /** + * A synonym for WGS84_a(). + **********************************************************************/ + static Math::real WGS84_a() { return WGS84_a(); } + /** + * @tparam T the type of the returned value. + * @return the flattening of WGS84 ellipsoid (1/298.257223563). + **********************************************************************/ + template static T WGS84_f() { + // Evaluating this as 1000000000 / T(298257223563LL) reduces the + // round-off error by about 10%. However, expressing the flattening as + // 1/298.257223563 is well ingrained. + return 1 / ( T(298257223563LL) / 1000000000 ); + } + /** + * A synonym for WGS84_f(). + **********************************************************************/ + static Math::real WGS84_f() { return WGS84_f(); } + /** + * @tparam T the type of the returned value. + * @return the gravitational constant of the WGS84 ellipsoid, \e GM, in + * m3 s−2. + **********************************************************************/ + template static T WGS84_GM() + { return T(3986004) * 100000000 + 41800000; } + /** + * A synonym for WGS84_GM(). + **********************************************************************/ + static Math::real WGS84_GM() { return WGS84_GM(); } + /** + * @tparam T the type of the returned value. + * @return the angular velocity of the WGS84 ellipsoid, ω, in rad + * s−1. + **********************************************************************/ + template static T WGS84_omega() + { return 7292115 / (T(1000000) * 100000); } + /** + * A synonym for WGS84_omega(). + **********************************************************************/ + static Math::real WGS84_omega() { return WGS84_omega(); } + /** + * @tparam T the type of the returned value. + * @return the equatorial radius of GRS80 ellipsoid, \e a, in m. + **********************************************************************/ + template static T GRS80_a() + { return 6378137 * meter(); } + /** + * A synonym for GRS80_a(). + **********************************************************************/ + static Math::real GRS80_a() { return GRS80_a(); } + /** + * @tparam T the type of the returned value. + * @return the gravitational constant of the GRS80 ellipsoid, \e GM, in + * m3 s−2. + **********************************************************************/ + template static T GRS80_GM() + { return T(3986005) * 100000000; } + /** + * A synonym for GRS80_GM(). + **********************************************************************/ + static Math::real GRS80_GM() { return GRS80_GM(); } + /** + * @tparam T the type of the returned value. + * @return the angular velocity of the GRS80 ellipsoid, ω, in rad + * s−1. + * + * This is about 2 π 366.25 / (365.25 × 24 × 3600) rad + * s−1. 365.25 is the number of days in a Julian year and + * 365.35/366.25 converts from solar days to sidereal days. Using the + * number of days in a Gregorian year (365.2425) results in a worse + * approximation (because the Gregorian year includes the precession of the + * earth's axis). + **********************************************************************/ + template static T GRS80_omega() + { return 7292115 / (T(1000000) * 100000); } + /** + * A synonym for GRS80_omega(). + **********************************************************************/ + static Math::real GRS80_omega() { return GRS80_omega(); } + /** + * @tparam T the type of the returned value. + * @return the dynamical form factor of the GRS80 ellipsoid, + * J2. + **********************************************************************/ + template static T GRS80_J2() + { return T(108263) / 100000000; } + /** + * A synonym for GRS80_J2(). + **********************************************************************/ + static Math::real GRS80_J2() { return GRS80_J2(); } + /** + * @tparam T the type of the returned value. + * @return the central scale factor for UTM (0.9996). + **********************************************************************/ + template static T UTM_k0() + {return T(9996) / 10000; } + /** + * A synonym for UTM_k0(). + **********************************************************************/ + static Math::real UTM_k0() { return UTM_k0(); } + /** + * @tparam T the type of the returned value. + * @return the central scale factor for UPS (0.994). + **********************************************************************/ + template static T UPS_k0() + { return T(994) / 1000; } + /** + * A synonym for UPS_k0(). + **********************************************************************/ + static Math::real UPS_k0() { return UPS_k0(); } + ///@} + + /** \name SI units + **********************************************************************/ + ///@{ + /** + * @tparam T the type of the returned value. + * @return the number of meters in a meter. + * + * This is unity, but this lets the internal system of units be changed if + * necessary. + **********************************************************************/ + template static T meter() { return T(1); } + /** + * A synonym for meter(). + **********************************************************************/ + static Math::real meter() { return meter(); } + /** + * @return the number of meters in a kilometer. + **********************************************************************/ + static Math::real kilometer() + { return 1000 * meter(); } + /** + * @return the number of meters in a nautical mile (approximately 1 arc + * minute) + **********************************************************************/ + static Math::real nauticalmile() + { return 1852 * meter(); } + + /** + * @tparam T the type of the returned value. + * @return the number of square meters in a square meter. + * + * This is unity, but this lets the internal system of units be changed if + * necessary. + **********************************************************************/ + template static T square_meter() + { return meter() * meter(); } + /** + * A synonym for square_meter(). + **********************************************************************/ + static Math::real square_meter() + { return square_meter(); } + /** + * @return the number of square meters in a hectare. + **********************************************************************/ + static Math::real hectare() + { return 10000 * square_meter(); } + /** + * @return the number of square meters in a square kilometer. + **********************************************************************/ + static Math::real square_kilometer() + { return kilometer() * kilometer(); } + /** + * @return the number of square meters in a square nautical mile. + **********************************************************************/ + static Math::real square_nauticalmile() + { return nauticalmile() * nauticalmile(); } + ///@} + + /** \name Anachronistic British units + **********************************************************************/ + ///@{ + /** + * @return the number of meters in an international foot. + **********************************************************************/ + static Math::real foot() + { return real(254 * 12) / 10000 * meter(); } + /** + * @return the number of meters in a yard. + **********************************************************************/ + static Math::real yard() { return 3 * foot(); } + /** + * @return the number of meters in a fathom. + **********************************************************************/ + static Math::real fathom() { return 2 * yard(); } + /** + * @return the number of meters in a chain. + **********************************************************************/ + static Math::real chain() { return 22 * yard(); } + /** + * @return the number of meters in a furlong. + **********************************************************************/ + static Math::real furlong() { return 10 * chain(); } + /** + * @return the number of meters in a statute mile. + **********************************************************************/ + static Math::real mile() { return 8 * furlong(); } + /** + * @return the number of square meters in an acre. + **********************************************************************/ + static Math::real acre() { return chain() * furlong(); } + /** + * @return the number of square meters in a square statute mile. + **********************************************************************/ + static Math::real square_mile() { return mile() * mile(); } + ///@} + + /** \name Anachronistic US units + **********************************************************************/ + ///@{ + /** + * @return the number of meters in a US survey foot. + **********************************************************************/ + static Math::real surveyfoot() + { return real(1200) / 3937 * meter(); } + ///@} + }; + + /** + * \brief Exception handling for %GeographicLib + * + * A class to handle exceptions. It's derived from std::runtime_error so it + * can be caught by the usual catch clauses. + * + * Example of use: + * \include example-GeographicErr.cpp + **********************************************************************/ + class GeographicErr : public std::runtime_error { + public: + + /** + * Constructor + * + * @param[in] msg a string message, which is accessible in the catch + * clause via what(). + **********************************************************************/ + GeographicErr(const std::string& msg) : std::runtime_error(msg) {} + }; + +} // namespace GeographicLib + +#endif // GEOGRAPHICLIB_CONSTANTS_HPP diff --git a/global_fusion/Thirdparty/GeographicLib/include/Geocentric.hpp b/global_fusion/Thirdparty/GeographicLib/include/Geocentric.hpp new file mode 100644 index 0000000..2520d8e --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/include/Geocentric.hpp @@ -0,0 +1,267 @@ +/** + * \file Geocentric.hpp + * \brief Header for GeographicLib::Geocentric class + * + * Copyright (c) Charles Karney (2008-2016) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#if !defined(GEOGRAPHICLIB_GEOCENTRIC_HPP) +#define GEOGRAPHICLIB_GEOCENTRIC_HPP 1 + +#include +#include "Constants.hpp" + +namespace GeographicLib { + + /** + * \brief %Geocentric coordinates + * + * Convert between geodetic coordinates latitude = \e lat, longitude = \e + * lon, height = \e h (measured vertically from the surface of the ellipsoid) + * to geocentric coordinates (\e X, \e Y, \e Z). The origin of geocentric + * coordinates is at the center of the earth. The \e Z axis goes thru the + * north pole, \e lat = 90°. The \e X axis goes thru \e lat = 0, + * \e lon = 0. %Geocentric coordinates are also known as earth centered, + * earth fixed (ECEF) coordinates. + * + * The conversion from geographic to geocentric coordinates is + * straightforward. For the reverse transformation we use + * - H. Vermeille, + * Direct + * transformation from geocentric coordinates to geodetic coordinates, + * J. Geodesy 76, 451--454 (2002). + * . + * Several changes have been made to ensure that the method returns accurate + * results for all finite inputs (even if \e h is infinite). The changes are + * described in Appendix B of + * - C. F. F. Karney, + * Geodesics + * on an ellipsoid of revolution, + * Feb. 2011; + * preprint + * arxiv:1102.1215v1. + * . + * Vermeille similarly updated his method in + * - H. Vermeille, + * + * An analytical method to transform geocentric into + * geodetic coordinates, J. Geodesy 85, 105--117 (2011). + * . + * See \ref geocentric for more information. + * + * The errors in these routines are close to round-off. Specifically, for + * points within 5000 km of the surface of the ellipsoid (either inside or + * outside the ellipsoid), the error is bounded by 7 nm (7 nanometers) for + * the WGS84 ellipsoid. See \ref geocentric for further information on the + * errors. + * + * Example of use: + * \include example-Geocentric.cpp + * + * CartConvert is a command-line utility + * providing access to the functionality of Geocentric and LocalCartesian. + **********************************************************************/ + + class GEOGRAPHICLIB_EXPORT Geocentric { + private: + typedef Math::real real; + friend class LocalCartesian; + friend class MagneticCircle; // MagneticCircle uses Rotation + friend class MagneticModel; // MagneticModel uses IntForward + friend class GravityCircle; // GravityCircle uses Rotation + friend class GravityModel; // GravityModel uses IntForward + friend class NormalGravity; // NormalGravity uses IntForward + static const size_t dim_ = 3; + static const size_t dim2_ = dim_ * dim_; + real _a, _f, _e2, _e2m, _e2a, _e4a, _maxrad; + static void Rotation(real sphi, real cphi, real slam, real clam, + real M[dim2_]); + static void Rotate(real M[dim2_], real x, real y, real z, + real& X, real& Y, real& Z) { + // Perform [X,Y,Z]^t = M.[x,y,z]^t + // (typically local cartesian to geocentric) + X = M[0] * x + M[1] * y + M[2] * z; + Y = M[3] * x + M[4] * y + M[5] * z; + Z = M[6] * x + M[7] * y + M[8] * z; + } + static void Unrotate(real M[dim2_], real X, real Y, real Z, + real& x, real& y, real& z) { + // Perform [x,y,z]^t = M^t.[X,Y,Z]^t + // (typically geocentric to local cartesian) + x = M[0] * X + M[3] * Y + M[6] * Z; + y = M[1] * X + M[4] * Y + M[7] * Z; + z = M[2] * X + M[5] * Y + M[8] * Z; + } + void IntForward(real lat, real lon, real h, real& X, real& Y, real& Z, + real M[dim2_]) const; + void IntReverse(real X, real Y, real Z, real& lat, real& lon, real& h, + real M[dim2_]) const; + + public: + + /** + * Constructor for a ellipsoid with + * + * @param[in] a equatorial radius (meters). + * @param[in] f flattening of ellipsoid. Setting \e f = 0 gives a sphere. + * Negative \e f gives a prolate ellipsoid. + * @exception GeographicErr if \e a or (1 − \e f) \e a is not + * positive. + **********************************************************************/ + Geocentric(real a, real f); + + /** + * A default constructor (for use by NormalGravity). + **********************************************************************/ + Geocentric() : _a(-1) {} + + /** + * Convert from geodetic to geocentric coordinates. + * + * @param[in] lat latitude of point (degrees). + * @param[in] lon longitude of point (degrees). + * @param[in] h height of point above the ellipsoid (meters). + * @param[out] X geocentric coordinate (meters). + * @param[out] Y geocentric coordinate (meters). + * @param[out] Z geocentric coordinate (meters). + * + * \e lat should be in the range [−90°, 90°]. + **********************************************************************/ + void Forward(real lat, real lon, real h, real& X, real& Y, real& Z) + const { + if (Init()) + IntForward(lat, lon, h, X, Y, Z, NULL); + } + + /** + * Convert from geodetic to geocentric coordinates and return rotation + * matrix. + * + * @param[in] lat latitude of point (degrees). + * @param[in] lon longitude of point (degrees). + * @param[in] h height of point above the ellipsoid (meters). + * @param[out] X geocentric coordinate (meters). + * @param[out] Y geocentric coordinate (meters). + * @param[out] Z geocentric coordinate (meters). + * @param[out] M if the length of the vector is 9, fill with the rotation + * matrix in row-major order. + * + * Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can + * express \e v as \e column vectors in one of two ways + * - in east, north, up coordinates (where the components are relative to a + * local coordinate system at (\e lat, \e lon, \e h)); call this + * representation \e v1. + * - in geocentric \e X, \e Y, \e Z coordinates; call this representation + * \e v0. + * . + * Then we have \e v0 = \e M ⋅ \e v1. + **********************************************************************/ + void Forward(real lat, real lon, real h, real& X, real& Y, real& Z, + std::vector& M) + const { + if (!Init()) + return; + if (M.end() == M.begin() + dim2_) { + real t[dim2_]; + IntForward(lat, lon, h, X, Y, Z, t); + std::copy(t, t + dim2_, M.begin()); + } else + IntForward(lat, lon, h, X, Y, Z, NULL); + } + + /** + * Convert from geocentric to geodetic to coordinates. + * + * @param[in] X geocentric coordinate (meters). + * @param[in] Y geocentric coordinate (meters). + * @param[in] Z geocentric coordinate (meters). + * @param[out] lat latitude of point (degrees). + * @param[out] lon longitude of point (degrees). + * @param[out] h height of point above the ellipsoid (meters). + * + * In general there are multiple solutions and the result which maximizes + * \e h is returned. If there are still multiple solutions with different + * latitudes (applies only if \e Z = 0), then the solution with \e lat > 0 + * is returned. If there are still multiple solutions with different + * longitudes (applies only if \e X = \e Y = 0) then \e lon = 0 is + * returned. The value of \e h returned satisfies \e h ≥ − \e a + * (1 − e2) / sqrt(1 − e2 + * sin2\e lat). The value of \e lon returned is in the range + * [−180°, 180°]. + **********************************************************************/ + void Reverse(real X, real Y, real Z, real& lat, real& lon, real& h) + const { + if (Init()) + IntReverse(X, Y, Z, lat, lon, h, NULL); + } + + /** + * Convert from geocentric to geodetic to coordinates. + * + * @param[in] X geocentric coordinate (meters). + * @param[in] Y geocentric coordinate (meters). + * @param[in] Z geocentric coordinate (meters). + * @param[out] lat latitude of point (degrees). + * @param[out] lon longitude of point (degrees). + * @param[out] h height of point above the ellipsoid (meters). + * @param[out] M if the length of the vector is 9, fill with the rotation + * matrix in row-major order. + * + * Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can + * express \e v as \e column vectors in one of two ways + * - in east, north, up coordinates (where the components are relative to a + * local coordinate system at (\e lat, \e lon, \e h)); call this + * representation \e v1. + * - in geocentric \e X, \e Y, \e Z coordinates; call this representation + * \e v0. + * . + * Then we have \e v1 = MT ⋅ \e v0, where + * MT is the transpose of \e M. + **********************************************************************/ + void Reverse(real X, real Y, real Z, real& lat, real& lon, real& h, + std::vector& M) + const { + if (!Init()) + return; + if (M.end() == M.begin() + dim2_) { + real t[dim2_]; + IntReverse(X, Y, Z, lat, lon, h, t); + std::copy(t, t + dim2_, M.begin()); + } else + IntReverse(X, Y, Z, lat, lon, h, NULL); + } + + /** \name Inspector functions + **********************************************************************/ + ///@{ + /** + * @return true if the object has been initialized. + **********************************************************************/ + bool Init() const { return _a > 0; } + /** + * @return \e a the equatorial radius of the ellipsoid (meters). This is + * the value used in the constructor. + **********************************************************************/ + Math::real MajorRadius() const + { return Init() ? _a : Math::NaN(); } + + /** + * @return \e f the flattening of the ellipsoid. This is the + * value used in the constructor. + **********************************************************************/ + Math::real Flattening() const + { return Init() ? _f : Math::NaN(); } + ///@} + + /** + * A global instantiation of Geocentric with the parameters for the WGS84 + * ellipsoid. + **********************************************************************/ + static const Geocentric& WGS84(); + }; + +} // namespace GeographicLib + +#endif // GEOGRAPHICLIB_GEOCENTRIC_HPP diff --git a/global_fusion/Thirdparty/GeographicLib/include/LocalCartesian.hpp b/global_fusion/Thirdparty/GeographicLib/include/LocalCartesian.hpp new file mode 100644 index 0000000..6355faf --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/include/LocalCartesian.hpp @@ -0,0 +1,236 @@ +/** + * \file LocalCartesian.hpp + * \brief Header for GeographicLib::LocalCartesian class + * + * Copyright (c) Charles Karney (2008-2016) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#if !defined(GEOGRAPHICLIB_LOCALCARTESIAN_HPP) +#define GEOGRAPHICLIB_LOCALCARTESIAN_HPP 1 + +#include "Geocentric.hpp" +#include "Constants.hpp" + +namespace GeographicLib { + + /** + * \brief Local cartesian coordinates + * + * Convert between geodetic coordinates latitude = \e lat, longitude = \e + * lon, height = \e h (measured vertically from the surface of the ellipsoid) + * to local cartesian coordinates (\e x, \e y, \e z). The origin of local + * cartesian coordinate system is at \e lat = \e lat0, \e lon = \e lon0, \e h + * = \e h0. The \e z axis is normal to the ellipsoid; the \e y axis points + * due north. The plane \e z = - \e h0 is tangent to the ellipsoid. + * + * The conversions all take place via geocentric coordinates using a + * Geocentric object (by default Geocentric::WGS84()). + * + * Example of use: + * \include example-LocalCartesian.cpp + * + * CartConvert is a command-line utility + * providing access to the functionality of Geocentric and LocalCartesian. + **********************************************************************/ + + class GEOGRAPHICLIB_EXPORT LocalCartesian { + private: + typedef Math::real real; + static const size_t dim_ = 3; + static const size_t dim2_ = dim_ * dim_; + Geocentric _earth; + real _lat0, _lon0, _h0; + real _x0, _y0, _z0, _r[dim2_]; + void IntForward(real lat, real lon, real h, real& x, real& y, real& z, + real M[dim2_]) const; + void IntReverse(real x, real y, real z, real& lat, real& lon, real& h, + real M[dim2_]) const; + void MatrixMultiply(real M[dim2_]) const; + public: + + /** + * Constructor setting the origin. + * + * @param[in] lat0 latitude at origin (degrees). + * @param[in] lon0 longitude at origin (degrees). + * @param[in] h0 height above ellipsoid at origin (meters); default 0. + * @param[in] earth Geocentric object for the transformation; default + * Geocentric::WGS84(). + * + * \e lat0 should be in the range [−90°, 90°]. + **********************************************************************/ + LocalCartesian(real lat0, real lon0, real h0 = 0, + const Geocentric& earth = Geocentric::WGS84()) + : _earth(earth) + { Reset(lat0, lon0, h0); } + + /** + * Default constructor. + * + * @param[in] earth Geocentric object for the transformation; default + * Geocentric::WGS84(). + * + * Sets \e lat0 = 0, \e lon0 = 0, \e h0 = 0. + **********************************************************************/ + explicit LocalCartesian(const Geocentric& earth = Geocentric::WGS84()) + : _earth(earth) + { Reset(real(0), real(0), real(0)); } + + /** + * Reset the origin. + * + * @param[in] lat0 latitude at origin (degrees). + * @param[in] lon0 longitude at origin (degrees). + * @param[in] h0 height above ellipsoid at origin (meters); default 0. + * + * \e lat0 should be in the range [−90°, 90°]. + **********************************************************************/ + void Reset(real lat0, real lon0, real h0 = 0); + + /** + * Convert from geodetic to local cartesian coordinates. + * + * @param[in] lat latitude of point (degrees). + * @param[in] lon longitude of point (degrees). + * @param[in] h height of point above the ellipsoid (meters). + * @param[out] x local cartesian coordinate (meters). + * @param[out] y local cartesian coordinate (meters). + * @param[out] z local cartesian coordinate (meters). + * + * \e lat should be in the range [−90°, 90°]. + **********************************************************************/ + void Forward(real lat, real lon, real h, real& x, real& y, real& z) + const { + IntForward(lat, lon, h, x, y, z, NULL); + } + + /** + * Convert from geodetic to local cartesian coordinates and return rotation + * matrix. + * + * @param[in] lat latitude of point (degrees). + * @param[in] lon longitude of point (degrees). + * @param[in] h height of point above the ellipsoid (meters). + * @param[out] x local cartesian coordinate (meters). + * @param[out] y local cartesian coordinate (meters). + * @param[out] z local cartesian coordinate (meters). + * @param[out] M if the length of the vector is 9, fill with the rotation + * matrix in row-major order. + * + * \e lat should be in the range [−90°, 90°]. + * + * Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can + * express \e v as \e column vectors in one of two ways + * - in east, north, up coordinates (where the components are relative to a + * local coordinate system at (\e lat, \e lon, \e h)); call this + * representation \e v1. + * - in \e x, \e y, \e z coordinates (where the components are relative to + * the local coordinate system at (\e lat0, \e lon0, \e h0)); call this + * representation \e v0. + * . + * Then we have \e v0 = \e M ⋅ \e v1. + **********************************************************************/ + void Forward(real lat, real lon, real h, real& x, real& y, real& z, + std::vector& M) + const { + if (M.end() == M.begin() + dim2_) { + real t[dim2_]; + IntForward(lat, lon, h, x, y, z, t); + std::copy(t, t + dim2_, M.begin()); + } else + IntForward(lat, lon, h, x, y, z, NULL); + } + + /** + * Convert from local cartesian to geodetic coordinates. + * + * @param[in] x local cartesian coordinate (meters). + * @param[in] y local cartesian coordinate (meters). + * @param[in] z local cartesian coordinate (meters). + * @param[out] lat latitude of point (degrees). + * @param[out] lon longitude of point (degrees). + * @param[out] h height of point above the ellipsoid (meters). + * + * The value of \e lon returned is in the range [−180°, + * 180°]. + **********************************************************************/ + void Reverse(real x, real y, real z, real& lat, real& lon, real& h) + const { + IntReverse(x, y, z, lat, lon, h, NULL); + } + + /** + * Convert from local cartesian to geodetic coordinates and return rotation + * matrix. + * + * @param[in] x local cartesian coordinate (meters). + * @param[in] y local cartesian coordinate (meters). + * @param[in] z local cartesian coordinate (meters). + * @param[out] lat latitude of point (degrees). + * @param[out] lon longitude of point (degrees). + * @param[out] h height of point above the ellipsoid (meters). + * @param[out] M if the length of the vector is 9, fill with the rotation + * matrix in row-major order. + * + * Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can + * express \e v as \e column vectors in one of two ways + * - in east, north, up coordinates (where the components are relative to a + * local coordinate system at (\e lat, \e lon, \e h)); call this + * representation \e v1. + * - in \e x, \e y, \e z coordinates (where the components are relative to + * the local coordinate system at (\e lat0, \e lon0, \e h0)); call this + * representation \e v0. + * . + * Then we have \e v1 = MT ⋅ \e v0, where + * MT is the transpose of \e M. + **********************************************************************/ + void Reverse(real x, real y, real z, real& lat, real& lon, real& h, + std::vector& M) + const { + if (M.end() == M.begin() + dim2_) { + real t[dim2_]; + IntReverse(x, y, z, lat, lon, h, t); + std::copy(t, t + dim2_, M.begin()); + } else + IntReverse(x, y, z, lat, lon, h, NULL); + } + + /** \name Inspector functions + **********************************************************************/ + ///@{ + /** + * @return latitude of the origin (degrees). + **********************************************************************/ + Math::real LatitudeOrigin() const { return _lat0; } + + /** + * @return longitude of the origin (degrees). + **********************************************************************/ + Math::real LongitudeOrigin() const { return _lon0; } + + /** + * @return height of the origin (meters). + **********************************************************************/ + Math::real HeightOrigin() const { return _h0; } + + /** + * @return \e a the equatorial radius of the ellipsoid (meters). This is + * the value of \e a inherited from the Geocentric object used in the + * constructor. + **********************************************************************/ + Math::real MajorRadius() const { return _earth.MajorRadius(); } + + /** + * @return \e f the flattening of the ellipsoid. This is the value + * inherited from the Geocentric object used in the constructor. + **********************************************************************/ + Math::real Flattening() const { return _earth.Flattening(); } + ///@} + + }; + +} // namespace GeographicLib + +#endif // GEOGRAPHICLIB_LOCALCARTESIAN_HPP diff --git a/global_fusion/Thirdparty/GeographicLib/include/Math.hpp b/global_fusion/Thirdparty/GeographicLib/include/Math.hpp new file mode 100644 index 0000000..7475546 --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/include/Math.hpp @@ -0,0 +1,945 @@ +/** + * \file Math.hpp + * \brief Header for GeographicLib::Math class + * + * Copyright (c) Charles Karney (2008-2017) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +// Constants.hpp includes Math.hpp. Place this include outside Math.hpp's +// include guard to enforce this ordering. +#include "Constants.hpp" + +#if !defined(GEOGRAPHICLIB_MATH_HPP) +#define GEOGRAPHICLIB_MATH_HPP 1 + +/** + * Are C++11 math functions available? + **********************************************************************/ +#if !defined(GEOGRAPHICLIB_CXX11_MATH) +// Recent versions of g++ -std=c++11 (4.7 and later?) set __cplusplus to 201103 +// and support the new C++11 mathematical functions, std::atanh, etc. However +// the Android toolchain, which uses g++ -std=c++11 (4.8 as of 2014-03-11, +// according to Pullan Lu), does not support std::atanh. Android toolchains +// might define __ANDROID__ or ANDROID; so need to check both. With OSX the +// version is GNUC version 4.2 and __cplusplus is set to 201103, so remove the +// version check on GNUC. +# if defined(__GNUC__) && __cplusplus >= 201103 && \ + !(defined(__ANDROID__) || defined(ANDROID) || defined(__CYGWIN__)) +# define GEOGRAPHICLIB_CXX11_MATH 1 +// Visual C++ 12 supports these functions +# elif defined(_MSC_VER) && _MSC_VER >= 1800 +# define GEOGRAPHICLIB_CXX11_MATH 1 +# else +# define GEOGRAPHICLIB_CXX11_MATH 0 +# endif +#endif + +#if !defined(GEOGRAPHICLIB_WORDS_BIGENDIAN) +# define GEOGRAPHICLIB_WORDS_BIGENDIAN 0 +#endif + +#if !defined(GEOGRAPHICLIB_HAVE_LONG_DOUBLE) +# define GEOGRAPHICLIB_HAVE_LONG_DOUBLE 0 +#endif + +#if !defined(GEOGRAPHICLIB_PRECISION) +/** + * The precision of floating point numbers used in %GeographicLib. 1 means + * float (single precision); 2 (the default) means double; 3 means long double; + * 4 is reserved for quadruple precision. Nearly all the testing has been + * carried out with doubles and that's the recommended configuration. In order + * for long double to be used, GEOGRAPHICLIB_HAVE_LONG_DOUBLE needs to be + * defined. Note that with Microsoft Visual Studio, long double is the same as + * double. + **********************************************************************/ +# define GEOGRAPHICLIB_PRECISION 2 +#endif + +#include +#include +#include + +#if GEOGRAPHICLIB_PRECISION == 4 +#include +#if BOOST_VERSION >= 105600 +#include +#endif +#include +#include +__float128 fmaq(__float128, __float128, __float128); +#elif GEOGRAPHICLIB_PRECISION == 5 +#include +#endif + +#if GEOGRAPHICLIB_PRECISION > 3 +// volatile keyword makes no sense for multiprec types +#define GEOGRAPHICLIB_VOLATILE +// Signal a convergence failure with multiprec types by throwing an exception +// at loop exit. +#define GEOGRAPHICLIB_PANIC \ + (throw GeographicLib::GeographicErr("Convergence failure"), false) +#else +#define GEOGRAPHICLIB_VOLATILE volatile +// Ignore convergence failures with standard floating points types by allowing +// loop to exit cleanly. +#define GEOGRAPHICLIB_PANIC false +#endif + +namespace GeographicLib { + + /** + * \brief Mathematical functions needed by %GeographicLib + * + * Define mathematical functions in order to localize system dependencies and + * to provide generic versions of the functions. In addition define a real + * type to be used by %GeographicLib. + * + * Example of use: + * \include example-Math.cpp + **********************************************************************/ + class GEOGRAPHICLIB_EXPORT Math { + private: + void dummy() { + GEOGRAPHICLIB_STATIC_ASSERT(GEOGRAPHICLIB_PRECISION >= 1 && + GEOGRAPHICLIB_PRECISION <= 5, + "Bad value of precision"); + } + Math(); // Disable constructor + public: + +#if GEOGRAPHICLIB_HAVE_LONG_DOUBLE + /** + * The extended precision type for real numbers, used for some testing. + * This is long double on computers with this type; otherwise it is double. + **********************************************************************/ + typedef long double extended; +#else + typedef double extended; +#endif + +#if GEOGRAPHICLIB_PRECISION == 2 + /** + * The real type for %GeographicLib. Nearly all the testing has been done + * with \e real = double. However, the algorithms should also work with + * float and long double (where available). (CAUTION: reasonable + * accuracy typically cannot be obtained using floats.) + **********************************************************************/ + typedef double real; +#elif GEOGRAPHICLIB_PRECISION == 1 + typedef float real; +#elif GEOGRAPHICLIB_PRECISION == 3 + typedef extended real; +#elif GEOGRAPHICLIB_PRECISION == 4 + typedef boost::multiprecision::float128 real; +#elif GEOGRAPHICLIB_PRECISION == 5 + typedef mpfr::mpreal real; +#else + typedef double real; +#endif + + /** + * @return the number of bits of precision in a real number. + **********************************************************************/ + static int digits() { +#if GEOGRAPHICLIB_PRECISION != 5 + return std::numeric_limits::digits; +#else + return std::numeric_limits::digits(); +#endif + } + + /** + * Set the binary precision of a real number. + * + * @param[in] ndigits the number of bits of precision. + * @return the resulting number of bits of precision. + * + * This only has an effect when GEOGRAPHICLIB_PRECISION = 5. See also + * Utility::set_digits for caveats about when this routine should be + * called. + **********************************************************************/ + static int set_digits(int ndigits) { +#if GEOGRAPHICLIB_PRECISION != 5 + (void)ndigits; +#else + mpfr::mpreal::set_default_prec(ndigits >= 2 ? ndigits : 2); +#endif + return digits(); + } + + /** + * @return the number of decimal digits of precision in a real number. + **********************************************************************/ + static int digits10() { +#if GEOGRAPHICLIB_PRECISION != 5 + return std::numeric_limits::digits10; +#else + return std::numeric_limits::digits10(); +#endif + } + + /** + * Number of additional decimal digits of precision for real relative to + * double (0 for float). + **********************************************************************/ + static int extra_digits() { + return + digits10() > std::numeric_limits::digits10 ? + digits10() - std::numeric_limits::digits10 : 0; + } + + /** + * true if the machine is big-endian. + **********************************************************************/ + static const bool bigendian = GEOGRAPHICLIB_WORDS_BIGENDIAN; + + /** + * @tparam T the type of the returned value. + * @return π. + **********************************************************************/ + template static T pi() { + using std::atan2; + static const T pi = atan2(T(0), T(-1)); + return pi; + } + /** + * A synonym for pi(). + **********************************************************************/ + static real pi() { return pi(); } + + /** + * @tparam T the type of the returned value. + * @return the number of radians in a degree. + **********************************************************************/ + template static T degree() { + static const T degree = pi() / 180; + return degree; + } + /** + * A synonym for degree(). + **********************************************************************/ + static real degree() { return degree(); } + + /** + * Square a number. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return x2. + **********************************************************************/ + template static T sq(T x) + { return x * x; } + + /** + * The hypotenuse function avoiding underflow and overflow. + * + * @tparam T the type of the arguments and the returned value. + * @param[in] x + * @param[in] y + * @return sqrt(x2 + y2). + **********************************************************************/ + template static T hypot(T x, T y) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::hypot; return hypot(x, y); +#else + using std::abs; using std::sqrt; + x = abs(x); y = abs(y); + if (x < y) std::swap(x, y); // Now x >= y >= 0 + y /= (x ? x : 1); + return x * sqrt(1 + y * y); + // For an alternative (square-root free) method see + // C. Moler and D. Morrision (1983) https://doi.org/10.1147/rd.276.0577 + // and A. A. Dubrulle (1983) https://doi.org/10.1147/rd.276.0582 +#endif + } + + /** + * exp(\e x) − 1 accurate near \e x = 0. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return exp(\e x) − 1. + **********************************************************************/ + template static T expm1(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::expm1; return expm1(x); +#else + using std::exp; using std::abs; using std::log; + GEOGRAPHICLIB_VOLATILE T + y = exp(x), + z = y - 1; + // The reasoning here is similar to that for log1p. The expression + // mathematically reduces to exp(x) - 1, and the factor z/log(y) = (y - + // 1)/log(y) is a slowly varying quantity near y = 1 and is accurately + // computed. + return abs(x) > 1 ? z : (z == 0 ? x : x * z / log(y)); +#endif + } + + /** + * log(1 + \e x) accurate near \e x = 0. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return log(1 + \e x). + **********************************************************************/ + template static T log1p(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::log1p; return log1p(x); +#else + using std::log; + GEOGRAPHICLIB_VOLATILE T + y = 1 + x, + z = y - 1; + // Here's the explanation for this magic: y = 1 + z, exactly, and z + // approx x, thus log(y)/z (which is nearly constant near z = 0) returns + // a good approximation to the true log(1 + x)/x. The multiplication x * + // (log(y)/z) introduces little additional error. + return z == 0 ? x : x * log(y) / z; +#endif + } + + /** + * The inverse hyperbolic sine function. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return asinh(\e x). + **********************************************************************/ + template static T asinh(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::asinh; return asinh(x); +#else + using std::abs; T y = abs(x); // Enforce odd parity + y = log1p(y * (1 + y/(hypot(T(1), y) + 1))); + return x < 0 ? -y : y; +#endif + } + + /** + * The inverse hyperbolic tangent function. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return atanh(\e x). + **********************************************************************/ + template static T atanh(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::atanh; return atanh(x); +#else + using std::abs; T y = abs(x); // Enforce odd parity + y = log1p(2 * y/(1 - y))/2; + return x < 0 ? -y : y; +#endif + } + + /** + * The cube root function. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return the real cube root of \e x. + **********************************************************************/ + template static T cbrt(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::cbrt; return cbrt(x); +#else + using std::abs; using std::pow; + T y = pow(abs(x), 1/T(3)); // Return the real cube root + return x < 0 ? -y : y; +#endif + } + + /** + * Fused multiply and add. + * + * @tparam T the type of the arguments and the returned value. + * @param[in] x + * @param[in] y + * @param[in] z + * @return xy + z, correctly rounded (on those platforms with + * support for the fma instruction). + * + * On platforms without the fma instruction, no attempt is + * made to improve on the result of a rounded multiplication followed by a + * rounded addition. + **********************************************************************/ + template static T fma(T x, T y, T z) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::fma; return fma(x, y, z); +#else + return x * y + z; +#endif + } + + /** + * Normalize a two-vector. + * + * @tparam T the type of the argument and the returned value. + * @param[in,out] x on output set to x/hypot(x, y). + * @param[in,out] y on output set to y/hypot(x, y). + **********************************************************************/ + template static void norm(T& x, T& y) + { T h = hypot(x, y); x /= h; y /= h; } + + /** + * The error-free sum of two numbers. + * + * @tparam T the type of the argument and the returned value. + * @param[in] u + * @param[in] v + * @param[out] t the exact error given by (\e u + \e v) - \e s. + * @return \e s = round(\e u + \e v). + * + * See D. E. Knuth, TAOCP, Vol 2, 4.2.2, Theorem B. (Note that \e t can be + * the same as one of the first two arguments.) + **********************************************************************/ + template static T sum(T u, T v, T& t) { + GEOGRAPHICLIB_VOLATILE T s = u + v; + GEOGRAPHICLIB_VOLATILE T up = s - v; + GEOGRAPHICLIB_VOLATILE T vpp = s - up; + up -= u; + vpp -= v; + t = -(up + vpp); + // u + v = s + t + // = round(u + v) + t + return s; + } + + /** + * Evaluate a polynomial. + * + * @tparam T the type of the arguments and returned value. + * @param[in] N the order of the polynomial. + * @param[in] p the coefficient array (of size \e N + 1). + * @param[in] x the variable. + * @return the value of the polynomial. + * + * Evaluate y = ∑n=0..N + * pn xN−n. + * Return 0 if \e N < 0. Return p0, if \e N = 0 (even + * if \e x is infinite or a nan). The evaluation uses Horner's method. + **********************************************************************/ + template static T polyval(int N, const T p[], T x) + // This used to employ Math::fma; but that's too slow and it seemed not to + // improve the accuracy noticeably. This might change when there's direct + // hardware support for fma. + { T y = N < 0 ? 0 : *p++; while (--N >= 0) y = y * x + *p++; return y; } + + /** + * Normalize an angle. + * + * @tparam T the type of the argument and returned value. + * @param[in] x the angle in degrees. + * @return the angle reduced to the range([−180°, 180°]. + * + * The range of \e x is unrestricted. + **********************************************************************/ + template static T AngNormalize(T x) { +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION != 4 + using std::remainder; + x = remainder(x, T(360)); return x != -180 ? x : 180; +#else + using std::fmod; + T y = fmod(x, T(360)); +#if defined(_MSC_VER) && _MSC_VER < 1900 + // Before version 14 (2015), Visual Studio had problems dealing + // with -0.0. Specifically + // VC 10,11,12 and 32-bit compile: fmod(-0.0, 360.0) -> +0.0 + // sincosd has a similar fix. + // python 2.7 on Windows 32-bit machines has the same problem. + if (x == 0) y = x; +#endif + return y <= -180 ? y + 360 : (y <= 180 ? y : y - 360); +#endif + } + + /** + * Normalize a latitude. + * + * @tparam T the type of the argument and returned value. + * @param[in] x the angle in degrees. + * @return x if it is in the range [−90°, 90°], otherwise + * return NaN. + **********************************************************************/ + template static T LatFix(T x) + { using std::abs; return abs(x) > 90 ? NaN() : x; } + + /** + * The exact difference of two angles reduced to + * (−180°, 180°]. + * + * @tparam T the type of the arguments and returned value. + * @param[in] x the first angle in degrees. + * @param[in] y the second angle in degrees. + * @param[out] e the error term in degrees. + * @return \e d, the truncated value of \e y − \e x. + * + * This computes \e z = \e y − \e x exactly, reduced to + * (−180°, 180°]; and then sets \e z = \e d + \e e where \e d + * is the nearest representable number to \e z and \e e is the truncation + * error. If \e d = −180, then \e e > 0; If \e d = 180, then \e e + * ≤ 0. + **********************************************************************/ + template static T AngDiff(T x, T y, T& e) { +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION != 4 + using std::remainder; + T t, d = AngNormalize(sum(remainder(-x, T(360)), + remainder( y, T(360)), t)); +#else + T t, d = AngNormalize(sum(AngNormalize(-x), AngNormalize(y), t)); +#endif + // Here y - x = d + t (mod 360), exactly, where d is in (-180,180] and + // abs(t) <= eps (eps = 2^-45 for doubles). The only case where the + // addition of t takes the result outside the range (-180,180] is d = 180 + // and t > 0. The case, d = -180 + eps, t = -eps, can't happen, since + // sum would have returned the exact result in such a case (i.e., given t + // = 0). + return sum(d == 180 && t > 0 ? -180 : d, t, e); + } + + /** + * Difference of two angles reduced to [−180°, 180°] + * + * @tparam T the type of the arguments and returned value. + * @param[in] x the first angle in degrees. + * @param[in] y the second angle in degrees. + * @return \e y − \e x, reduced to the range [−180°, + * 180°]. + * + * The result is equivalent to computing the difference exactly, reducing + * it to (−180°, 180°] and rounding the result. Note that + * this prescription allows −180° to be returned (e.g., if \e x + * is tiny and negative and \e y = 180°). + **********************************************************************/ + template static T AngDiff(T x, T y) + { T e; return AngDiff(x, y, e); } + + /** + * Coarsen a value close to zero. + * + * @tparam T the type of the argument and returned value. + * @param[in] x + * @return the coarsened value. + * + * The makes the smallest gap in \e x = 1/16 - nextafter(1/16, 0) = + * 1/257 for reals = 0.7 pm on the earth if \e x is an angle in + * degrees. (This is about 1000 times more resolution than we get with + * angles around 90°.) We use this to avoid having to deal with near + * singular cases when \e x is non-zero but tiny (e.g., + * 10−200). This converts -0 to +0; however tiny negative + * numbers get converted to -0. + **********************************************************************/ + template static T AngRound(T x) { + using std::abs; + static const T z = 1/T(16); + if (x == 0) return 0; + GEOGRAPHICLIB_VOLATILE T y = abs(x); + // The compiler mustn't "simplify" z - (z - y) to y + y = y < z ? z - (z - y) : y; + return x < 0 ? -y : y; + } + + /** + * Evaluate the sine and cosine function with the argument in degrees + * + * @tparam T the type of the arguments. + * @param[in] x in degrees. + * @param[out] sinx sin(x). + * @param[out] cosx cos(x). + * + * The results obey exactly the elementary properties of the trigonometric + * functions, e.g., sin 9° = cos 81° = − sin 123456789°. + * If x = −0, then \e sinx = −0; this is the only case where + * −0 is returned. + **********************************************************************/ + template static void sincosd(T x, T& sinx, T& cosx) { + // In order to minimize round-off errors, this function exactly reduces + // the argument to the range [-45, 45] before converting it to radians. + using std::sin; using std::cos; + T r; int q; +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION <= 3 && \ + !defined(__GNUC__) + // Disable for gcc because of bug in glibc version < 2.22, see + // https://sourceware.org/bugzilla/show_bug.cgi?id=17569 + // Once this fix is widely deployed, should insert a runtime test for the + // glibc version number. For example + // #include + // std::string version(gnu_get_libc_version()); => "2.22" + using std::remquo; + r = remquo(x, T(90), &q); +#else + using std::fmod; using std::floor; + r = fmod(x, T(360)); + q = int(floor(r / 90 + T(0.5))); + r -= 90 * q; +#endif + // now abs(r) <= 45 + r *= degree(); + // Possibly could call the gnu extension sincos + T s = sin(r), c = cos(r); +#if defined(_MSC_VER) && _MSC_VER < 1900 + // Before version 14 (2015), Visual Studio had problems dealing + // with -0.0. Specifically + // VC 10,11,12 and 32-bit compile: fmod(-0.0, 360.0) -> +0.0 + // VC 12 and 64-bit compile: sin(-0.0) -> +0.0 + // AngNormalize has a similar fix. + // python 2.7 on Windows 32-bit machines has the same problem. + if (x == 0) s = x; +#endif + switch (unsigned(q) & 3U) { + case 0U: sinx = s; cosx = c; break; + case 1U: sinx = c; cosx = -s; break; + case 2U: sinx = -s; cosx = -c; break; + default: sinx = -c; cosx = s; break; // case 3U + } + // Set sign of 0 results. -0 only produced for sin(-0) + if (x != 0) { sinx += T(0); cosx += T(0); } + } + + /** + * Evaluate the sine function with the argument in degrees + * + * @tparam T the type of the argument and the returned value. + * @param[in] x in degrees. + * @return sin(x). + **********************************************************************/ + template static T sind(T x) { + // See sincosd + using std::sin; using std::cos; + T r; int q; +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION <= 3 && \ + !defined(__GNUC__) + using std::remquo; + r = remquo(x, T(90), &q); +#else + using std::fmod; using std::floor; + r = fmod(x, T(360)); + q = int(floor(r / 90 + T(0.5))); + r -= 90 * q; +#endif + // now abs(r) <= 45 + r *= degree(); + unsigned p = unsigned(q); + r = p & 1U ? cos(r) : sin(r); + if (p & 2U) r = -r; + if (x != 0) r += T(0); + return r; + } + + /** + * Evaluate the cosine function with the argument in degrees + * + * @tparam T the type of the argument and the returned value. + * @param[in] x in degrees. + * @return cos(x). + **********************************************************************/ + template static T cosd(T x) { + // See sincosd + using std::sin; using std::cos; + T r; int q; +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION <= 3 && \ + !defined(__GNUC__) + using std::remquo; + r = remquo(x, T(90), &q); +#else + using std::fmod; using std::floor; + r = fmod(x, T(360)); + q = int(floor(r / 90 + T(0.5))); + r -= 90 * q; +#endif + // now abs(r) <= 45 + r *= degree(); + unsigned p = unsigned(q + 1); + r = p & 1U ? cos(r) : sin(r); + if (p & 2U) r = -r; + return T(0) + r; + } + + /** + * Evaluate the tangent function with the argument in degrees + * + * @tparam T the type of the argument and the returned value. + * @param[in] x in degrees. + * @return tan(x). + * + * If \e x = ±90°, then a suitably large (but finite) value is + * returned. + **********************************************************************/ + template static T tand(T x) { + static const T overflow = 1 / sq(std::numeric_limits::epsilon()); + T s, c; + sincosd(x, s, c); + return c != 0 ? s / c : (s < 0 ? -overflow : overflow); + } + + /** + * Evaluate the atan2 function with the result in degrees + * + * @tparam T the type of the arguments and the returned value. + * @param[in] y + * @param[in] x + * @return atan2(y, x) in degrees. + * + * The result is in the range (−180° 180°]. N.B., + * atan2d(±0, −1) = +180°; atan2d(−ε, + * −1) = −180°, for ε positive and tiny; + * atan2d(±0, +1) = ±0°. + **********************************************************************/ + template static T atan2d(T y, T x) { + // In order to minimize round-off errors, this function rearranges the + // arguments so that result of atan2 is in the range [-pi/4, pi/4] before + // converting it to degrees and mapping the result to the correct + // quadrant. + using std::atan2; using std::abs; + int q = 0; + if (abs(y) > abs(x)) { std::swap(x, y); q = 2; } + if (x < 0) { x = -x; ++q; } + // here x >= 0 and x >= abs(y), so angle is in [-pi/4, pi/4] + T ang = atan2(y, x) / degree(); + switch (q) { + // Note that atan2d(-0.0, 1.0) will return -0. However, we expect that + // atan2d will not be called with y = -0. If need be, include + // + // case 0: ang = 0 + ang; break; + // + // and handle mpfr as in AngRound. + case 1: ang = (y >= 0 ? 180 : -180) - ang; break; + case 2: ang = 90 - ang; break; + case 3: ang = -90 + ang; break; + } + return ang; + } + + /** + * Evaluate the atan function with the result in degrees + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return atan(x) in degrees. + **********************************************************************/ + template static T atand(T x) + { return atan2d(x, T(1)); } + + /** + * Evaluate e atanh(e x) + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @param[in] es the signed eccentricity = sign(e2) + * sqrt(|e2|) + * @return e atanh(e x) + * + * If e2 is negative (e is imaginary), the + * expression is evaluated in terms of atan. + **********************************************************************/ + template static T eatanhe(T x, T es); + + /** + * Copy the sign. + * + * @tparam T the type of the argument. + * @param[in] x gives the magitude of the result. + * @param[in] y gives the sign of the result. + * @return value with the magnitude of \e x and with the sign of \e y. + * + * This routine correctly handles the case \e y = −0, returning + * &minus|x|. + **********************************************************************/ + template static T copysign(T x, T y) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::copysign; return copysign(x, y); +#else + using std::abs; + // NaN counts as positive + return abs(x) * (y < 0 || (y == 0 && 1/y < 0) ? -1 : 1); +#endif + } + + /** + * tanχ in terms of tanφ + * + * @tparam T the type of the argument and the returned value. + * @param[in] tau τ = tanφ + * @param[in] es the signed eccentricity = sign(e2) + * sqrt(|e2|) + * @return τ′ = tanχ + * + * See Eqs. (7--9) of + * C. F. F. Karney, + * + * Transverse Mercator with an accuracy of a few nanometers, + * J. Geodesy 85(8), 475--485 (Aug. 2011) + * (preprint + * arXiv:1002.1417). + **********************************************************************/ + template static T taupf(T tau, T es); + + /** + * tanφ in terms of tanχ + * + * @tparam T the type of the argument and the returned value. + * @param[in] taup τ′ = tanχ + * @param[in] es the signed eccentricity = sign(e2) + * sqrt(|e2|) + * @return τ = tanφ + * + * See Eqs. (19--21) of + * C. F. F. Karney, + * + * Transverse Mercator with an accuracy of a few nanometers, + * J. Geodesy 85(8), 475--485 (Aug. 2011) + * (preprint + * arXiv:1002.1417). + **********************************************************************/ + template static T tauf(T taup, T es); + + /** + * Test for finiteness. + * + * @tparam T the type of the argument. + * @param[in] x + * @return true if number is finite, false if NaN or infinite. + **********************************************************************/ + template static bool isfinite(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::isfinite; return isfinite(x); +#else + using std::abs; +#if defined(_MSC_VER) + return abs(x) <= (std::numeric_limits::max)(); +#else + // There's a problem using MPFR C++ 3.6.3 and g++ -std=c++14 (reported on + // 2015-05-04) with the parens around std::numeric_limits::max. Of + // course, these parens are only needed to deal with Windows stupidly + // defining max as a macro. So don't insert the parens on non-Windows + // platforms. + return abs(x) <= std::numeric_limits::max(); +#endif +#endif + } + + /** + * The NaN (not a number) + * + * @tparam T the type of the returned value. + * @return NaN if available, otherwise return the max real of type T. + **********************************************************************/ + template static T NaN() { +#if defined(_MSC_VER) + return std::numeric_limits::has_quiet_NaN ? + std::numeric_limits::quiet_NaN() : + (std::numeric_limits::max)(); +#else + return std::numeric_limits::has_quiet_NaN ? + std::numeric_limits::quiet_NaN() : + std::numeric_limits::max(); +#endif + } + /** + * A synonym for NaN(). + **********************************************************************/ + static real NaN() { return NaN(); } + + /** + * Test for NaN. + * + * @tparam T the type of the argument. + * @param[in] x + * @return true if argument is a NaN. + **********************************************************************/ + template static bool isnan(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::isnan; return isnan(x); +#else + return x != x; +#endif + } + + /** + * Infinity + * + * @tparam T the type of the returned value. + * @return infinity if available, otherwise return the max real. + **********************************************************************/ + template static T infinity() { +#if defined(_MSC_VER) + return std::numeric_limits::has_infinity ? + std::numeric_limits::infinity() : + (std::numeric_limits::max)(); +#else + return std::numeric_limits::has_infinity ? + std::numeric_limits::infinity() : + std::numeric_limits::max(); +#endif + } + /** + * A synonym for infinity(). + **********************************************************************/ + static real infinity() { return infinity(); } + + /** + * Swap the bytes of a quantity + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return x with its bytes swapped. + **********************************************************************/ + template static T swab(T x) { + union { + T r; + unsigned char c[sizeof(T)]; + } b; + b.r = x; + for (int i = sizeof(T)/2; i--; ) + std::swap(b.c[i], b.c[sizeof(T) - 1 - i]); + return b.r; + } + +#if GEOGRAPHICLIB_PRECISION == 4 + typedef boost::math::policies::policy + < boost::math::policies::domain_error + , + boost::math::policies::pole_error + , + boost::math::policies::overflow_error + , + boost::math::policies::evaluation_error + > + boost_special_functions_policy; + + static real hypot(real x, real y) + { return boost::math::hypot(x, y, boost_special_functions_policy()); } + + static real expm1(real x) + { return boost::math::expm1(x, boost_special_functions_policy()); } + + static real log1p(real x) + { return boost::math::log1p(x, boost_special_functions_policy()); } + + static real asinh(real x) + { return boost::math::asinh(x, boost_special_functions_policy()); } + + static real atanh(real x) + { return boost::math::atanh(x, boost_special_functions_policy()); } + + static real cbrt(real x) + { return boost::math::cbrt(x, boost_special_functions_policy()); } + + static real fma(real x, real y, real z) + { return fmaq(__float128(x), __float128(y), __float128(z)); } + + static real copysign(real x, real y) + { return boost::math::copysign(x, y); } + + static bool isnan(real x) { return boost::math::isnan(x); } + + static bool isfinite(real x) { return boost::math::isfinite(x); } +#endif + }; + +} // namespace GeographicLib + +#endif // GEOGRAPHICLIB_MATH_HPP diff --git a/global_fusion/Thirdparty/GeographicLib/src/Geocentric.cpp b/global_fusion/Thirdparty/GeographicLib/src/Geocentric.cpp new file mode 100644 index 0000000..85f07a0 --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/src/Geocentric.cpp @@ -0,0 +1,172 @@ +/** + * \file Geocentric.cpp + * \brief Implementation for GeographicLib::Geocentric class + * + * Copyright (c) Charles Karney (2008-2017) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#include "Geocentric.hpp" + +namespace GeographicLib { + + using namespace std; + + Geocentric::Geocentric(real a, real f) + : _a(a) + , _f(f) + , _e2(_f * (2 - _f)) + , _e2m(Math::sq(1 - _f)) // 1 - _e2 + , _e2a(abs(_e2)) + , _e4a(Math::sq(_e2)) + , _maxrad(2 * _a / numeric_limits::epsilon()) + { + if (!(Math::isfinite(_a) && _a > 0)) + throw GeographicErr("Equatorial radius is not positive"); + if (!(Math::isfinite(_f) && _f < 1)) + throw GeographicErr("Polar semi-axis is not positive"); + } + + const Geocentric& Geocentric::WGS84() { + static const Geocentric wgs84(Constants::WGS84_a(), Constants::WGS84_f()); + return wgs84; + } + + void Geocentric::IntForward(real lat, real lon, real h, + real& X, real& Y, real& Z, + real M[dim2_]) const { + real sphi, cphi, slam, clam; + Math::sincosd(Math::LatFix(lat), sphi, cphi); + Math::sincosd(lon, slam, clam); + real n = _a/sqrt(1 - _e2 * Math::sq(sphi)); + Z = (_e2m * n + h) * sphi; + X = (n + h) * cphi; + Y = X * slam; + X *= clam; + if (M) + Rotation(sphi, cphi, slam, clam, M); + } + + void Geocentric::IntReverse(real X, real Y, real Z, + real& lat, real& lon, real& h, + real M[dim2_]) const { + real + R = Math::hypot(X, Y), + slam = R != 0 ? Y / R : 0, + clam = R != 0 ? X / R : 1; + h = Math::hypot(R, Z); // Distance to center of earth + real sphi, cphi; + if (h > _maxrad) { + // We really far away (> 12 million light years); treat the earth as a + // point and h, above, is an acceptable approximation to the height. + // This avoids overflow, e.g., in the computation of disc below. It's + // possible that h has overflowed to inf; but that's OK. + // + // Treat the case X, Y finite, but R overflows to +inf by scaling by 2. + R = Math::hypot(X/2, Y/2); + slam = R != 0 ? (Y/2) / R : 0; + clam = R != 0 ? (X/2) / R : 1; + real H = Math::hypot(Z/2, R); + sphi = (Z/2) / H; + cphi = R / H; + } else if (_e4a == 0) { + // Treat the spherical case. Dealing with underflow in the general case + // with _e2 = 0 is difficult. Origin maps to N pole same as with + // ellipsoid. + real H = Math::hypot(h == 0 ? 1 : Z, R); + sphi = (h == 0 ? 1 : Z) / H; + cphi = R / H; + h -= _a; + } else { + // Treat prolate spheroids by swapping R and Z here and by switching + // the arguments to phi = atan2(...) at the end. + real + p = Math::sq(R / _a), + q = _e2m * Math::sq(Z / _a), + r = (p + q - _e4a) / 6; + if (_f < 0) swap(p, q); + if ( !(_e4a * q == 0 && r <= 0) ) { + real + // Avoid possible division by zero when r = 0 by multiplying + // equations for s and t by r^3 and r, resp. + S = _e4a * p * q / 4, // S = r^3 * s + r2 = Math::sq(r), + r3 = r * r2, + disc = S * (2 * r3 + S); + real u = r; + if (disc >= 0) { + real T3 = S + r3; + // Pick the sign on the sqrt to maximize abs(T3). This minimizes + // loss of precision due to cancellation. The result is unchanged + // because of the way the T is used in definition of u. + T3 += T3 < 0 ? -sqrt(disc) : sqrt(disc); // T3 = (r * t)^3 + // N.B. cbrt always returns the real root. cbrt(-8) = -2. + real T = Math::cbrt(T3); // T = r * t + // T can be zero; but then r2 / T -> 0. + u += T + (T != 0 ? r2 / T : 0); + } else { + // T is complex, but the way u is defined the result is real. + real ang = atan2(sqrt(-disc), -(S + r3)); + // There are three possible cube roots. We choose the root which + // avoids cancellation. Note that disc < 0 implies that r < 0. + u += 2 * r * cos(ang / 3); + } + real + v = sqrt(Math::sq(u) + _e4a * q), // guaranteed positive + // Avoid loss of accuracy when u < 0. Underflow doesn't occur in + // e4 * q / (v - u) because u ~ e^4 when q is small and u < 0. + uv = u < 0 ? _e4a * q / (v - u) : u + v, // u+v, guaranteed positive + // Need to guard against w going negative due to roundoff in uv - q. + w = max(real(0), _e2a * (uv - q) / (2 * v)), + // Rearrange expression for k to avoid loss of accuracy due to + // subtraction. Division by 0 not possible because uv > 0, w >= 0. + k = uv / (sqrt(uv + Math::sq(w)) + w), + k1 = _f >= 0 ? k : k - _e2, + k2 = _f >= 0 ? k + _e2 : k, + d = k1 * R / k2, + H = Math::hypot(Z/k1, R/k2); + sphi = (Z/k1) / H; + cphi = (R/k2) / H; + h = (1 - _e2m/k1) * Math::hypot(d, Z); + } else { // e4 * q == 0 && r <= 0 + // This leads to k = 0 (oblate, equatorial plane) and k + e^2 = 0 + // (prolate, rotation axis) and the generation of 0/0 in the general + // formulas for phi and h. using the general formula and division by 0 + // in formula for h. So handle this case by taking the limits: + // f > 0: z -> 0, k -> e2 * sqrt(q)/sqrt(e4 - p) + // f < 0: R -> 0, k + e2 -> - e2 * sqrt(q)/sqrt(e4 - p) + real + zz = sqrt((_f >= 0 ? _e4a - p : p) / _e2m), + xx = sqrt( _f < 0 ? _e4a - p : p ), + H = Math::hypot(zz, xx); + sphi = zz / H; + cphi = xx / H; + if (Z < 0) sphi = -sphi; // for tiny negative Z (not for prolate) + h = - _a * (_f >= 0 ? _e2m : 1) * H / _e2a; + } + } + lat = Math::atan2d(sphi, cphi); + lon = Math::atan2d(slam, clam); + if (M) + Rotation(sphi, cphi, slam, clam, M); + } + + void Geocentric::Rotation(real sphi, real cphi, real slam, real clam, + real M[dim2_]) { + // This rotation matrix is given by the following quaternion operations + // qrot(lam, [0,0,1]) * qrot(phi, [0,-1,0]) * [1,1,1,1]/2 + // or + // qrot(pi/2 + lam, [0,0,1]) * qrot(-pi/2 + phi , [-1,0,0]) + // where + // qrot(t,v) = [cos(t/2), sin(t/2)*v[1], sin(t/2)*v[2], sin(t/2)*v[3]] + + // Local X axis (east) in geocentric coords + M[0] = -slam; M[3] = clam; M[6] = 0; + // Local Y axis (north) in geocentric coords + M[1] = -clam * sphi; M[4] = -slam * sphi; M[7] = cphi; + // Local Z axis (up) in geocentric coords + M[2] = clam * cphi; M[5] = slam * cphi; M[8] = sphi; + } + +} // namespace GeographicLib diff --git a/global_fusion/Thirdparty/GeographicLib/src/LocalCartesian.cpp b/global_fusion/Thirdparty/GeographicLib/src/LocalCartesian.cpp new file mode 100644 index 0000000..626daca --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/src/LocalCartesian.cpp @@ -0,0 +1,62 @@ +/** + * \file LocalCartesian.cpp + * \brief Implementation for GeographicLib::LocalCartesian class + * + * Copyright (c) Charles Karney (2008-2015) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#include "LocalCartesian.hpp" + +namespace GeographicLib { + + using namespace std; + + void LocalCartesian::Reset(real lat0, real lon0, real h0) { + _lat0 = Math::LatFix(lat0); + _lon0 = Math::AngNormalize(lon0); + _h0 = h0; + _earth.Forward(_lat0, _lon0, _h0, _x0, _y0, _z0); + real sphi, cphi, slam, clam; + Math::sincosd(_lat0, sphi, cphi); + Math::sincosd(_lon0, slam, clam); + Geocentric::Rotation(sphi, cphi, slam, clam, _r); + } + + void LocalCartesian::MatrixMultiply(real M[dim2_]) const { + // M = r' . M + real t[dim2_]; + copy(M, M + dim2_, t); + for (size_t i = 0; i < dim2_; ++i) { + size_t row = i / dim_, col = i % dim_; + M[i] = _r[row] * t[col] + _r[row+3] * t[col+3] + _r[row+6] * t[col+6]; + } + } + + void LocalCartesian::IntForward(real lat, real lon, real h, + real& x, real& y, real& z, + real M[dim2_]) const { + real xc, yc, zc; + _earth.IntForward(lat, lon, h, xc, yc, zc, M); + xc -= _x0; yc -= _y0; zc -= _z0; + x = _r[0] * xc + _r[3] * yc + _r[6] * zc; + y = _r[1] * xc + _r[4] * yc + _r[7] * zc; + z = _r[2] * xc + _r[5] * yc + _r[8] * zc; + if (M) + MatrixMultiply(M); + } + + void LocalCartesian::IntReverse(real x, real y, real z, + real& lat, real& lon, real& h, + real M[dim2_]) const { + real + xc = _x0 + _r[0] * x + _r[1] * y + _r[2] * z, + yc = _y0 + _r[3] * x + _r[4] * y + _r[5] * z, + zc = _z0 + _r[6] * x + _r[7] * y + _r[8] * z; + _earth.IntReverse(xc, yc, zc, lat, lon, h, M); + if (M) + MatrixMultiply(M); + } + +} // namespace GeographicLib diff --git a/global_fusion/Thirdparty/GeographicLib/src/Math.cpp b/global_fusion/Thirdparty/GeographicLib/src/Math.cpp new file mode 100644 index 0000000..c318d4d --- /dev/null +++ b/global_fusion/Thirdparty/GeographicLib/src/Math.cpp @@ -0,0 +1,63 @@ +/** + * \file Math.cpp + * \brief Implementation for GeographicLib::Math class + * + * Copyright (c) Charles Karney (2015) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#include "Math.hpp" + +#if defined(_MSC_VER) +// Squelch warnings about constant conditional expressions +# pragma warning (disable: 4127) +#endif + +namespace GeographicLib { + + using namespace std; + + template T Math::eatanhe(T x, T es) { + return es > T(0) ? es * atanh(es * x) : -es * atan(es * x); + } + + template T Math::taupf(T tau, T es) { + T tau1 = hypot(T(1), tau), + sig = sinh( eatanhe(tau / tau1, es ) ); + return hypot(T(1), sig) * tau - sig * tau1; + } + + template T Math::tauf(T taup, T es) { + static const int numit = 5; + static const T tol = sqrt(numeric_limits::epsilon()) / T(10); + T e2m = T(1) - sq(es), + // To lowest order in e^2, taup = (1 - e^2) * tau = _e2m * tau; so use + // tau = taup/_e2m as a starting guess. (This starting guess is the + // geocentric latitude which, to first order in the flattening, is equal + // to the conformal latitude.) Only 1 iteration is needed for |lat| < + // 3.35 deg, otherwise 2 iterations are needed. If, instead, tau = taup + // is used the mean number of iterations increases to 1.99 (2 iterations + // are needed except near tau = 0). + tau = taup/e2m, + stol = tol * max(T(1), abs(taup)); + // min iterations = 1, max iterations = 2; mean = 1.94 + for (int i = 0; i < numit || GEOGRAPHICLIB_PANIC; ++i) { + T taupa = taupf(tau, es), + dtau = (taup - taupa) * (1 + e2m * sq(tau)) / + ( e2m * hypot(T(1), tau) * hypot(T(1), taupa) ); + tau += dtau; + if (!(abs(dtau) >= stol)) + break; + } + return tau; + } + + /// \cond SKIP + // Instantiate + template Math::real Math::eatanhe(Math::real, Math::real); + template Math::real Math::taupf(Math::real, Math::real); + template Math::real Math::tauf(Math::real, Math::real); + /// \endcond + +} // namespace GeographicLib diff --git a/global_fusion/data/vio_global.csv b/global_fusion/data/vio_global.csv new file mode 100644 index 0000000..a5bb7cf --- /dev/null +++ b/global_fusion/data/vio_global.csv @@ -0,0 +1,128026 @@ 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b/global_fusion/launch/global_fusion.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/global_fusion/launch/global_fusion_kitti.launch b/global_fusion/launch/global_fusion_kitti.launch new file mode 100644 index 0000000..521b9c3 --- /dev/null +++ b/global_fusion/launch/global_fusion_kitti.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/global_fusion/package.xml b/global_fusion/package.xml new file mode 100644 index 0000000..68f0d5a --- /dev/null +++ b/global_fusion/package.xml @@ -0,0 +1,38 @@ + + + + + global_fusion + 1.0.0 + + Package to perform global fusion. + + https://docs.openvins.com/ + https://github.com/rpng/open_vins/issues + https://github.com/rpng/open_vins + + + Patrick Geneva + Patrick Geneva + + + GNU General Public License v3.0 + + + catkin + cmake_modules + roscpp + rosbag + tf + std_msgs + + + ament_cmake + + + + catkin + ament_cmake + + + \ No newline at end of file diff --git a/global_fusion/src/Factors.h b/global_fusion/src/Factors.h new file mode 100644 index 0000000..825a99c --- /dev/null +++ b/global_fusion/src/Factors.h @@ -0,0 +1,122 @@ +// +// Created by admin1 on 25.08.2022. +// + +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#ifndef GLOBAL_FUSION_FACTORS_H +#define GLOBAL_FUSION_FACTORS_H + +#endif //GLOBAL_FUSION_FACTORS_H + +#pragma once +#include +#include + +template inline +void QuaternionInverse(const T q[4], T q_inverse[4]) +{ + q_inverse[0] = q[0]; + q_inverse[1] = -q[1]; + q_inverse[2] = -q[2]; + q_inverse[3] = -q[3]; +}; + +struct TError +{ + TError(double t_x, double t_y, double t_z, double var) + :t_x(t_x), t_y(t_y), t_z(t_z), var(var){} + + template + bool operator()(const T* tj, T* residuals) const + { + residuals[0] = (tj[0] - T(t_x)) / T(var); + residuals[1] = (tj[1] - T(t_y)) / T(var); + residuals[2] = (tj[2] - T(t_z)) / T(var); + + return true; + } + + static ceres::CostFunction* Create(const double t_x, const double t_y, const double t_z, const double var) + { + return (new ceres::AutoDiffCostFunction< + TError, 3, 3>( + new TError(t_x, t_y, t_z, var))); + } + + double t_x, t_y, t_z, var; + +}; + +struct RelativeRTError +{ + RelativeRTError(double t_x, double t_y, double t_z, + double q_w, double q_x, double q_y, double q_z, + double t_var, double q_var) + :t_x(t_x), t_y(t_y), t_z(t_z), + q_w(q_w), q_x(q_x), q_y(q_y), q_z(q_z), + t_var(t_var), q_var(q_var){} + + template + bool operator()(const T* const w_q_i, const T* ti, const T* w_q_j, const T* tj, T* residuals) const + { + T t_w_ij[3]; + t_w_ij[0] = tj[0] - ti[0]; + t_w_ij[1] = tj[1] - ti[1]; + t_w_ij[2] = tj[2] - ti[2]; + + T i_q_w[4]; + QuaternionInverse(w_q_i, i_q_w); + + T t_i_ij[3]; + ceres::QuaternionRotatePoint(i_q_w, t_w_ij, t_i_ij); + + residuals[0] = (t_i_ij[0] - T(t_x)) / T(t_var); + residuals[1] = (t_i_ij[1] - T(t_y)) / T(t_var); + residuals[2] = (t_i_ij[2] - T(t_z)) / T(t_var); + + T relative_q[4]; + relative_q[0] = T(q_w); + relative_q[1] = T(q_x); + relative_q[2] = T(q_y); + relative_q[3] = T(q_z); + + T q_i_j[4]; + ceres::QuaternionProduct(i_q_w, w_q_j, q_i_j); + + T relative_q_inv[4]; + QuaternionInverse(relative_q, relative_q_inv); + + T error_q[4]; + ceres::QuaternionProduct(relative_q_inv, q_i_j, error_q); + + residuals[3] = T(2) * error_q[1] / T(q_var); + residuals[4] = T(2) * error_q[2] / T(q_var); + residuals[5] = T(2) * error_q[3] / T(q_var); + + return true; + } + + static ceres::CostFunction* Create(const double t_x, const double t_y, const double t_z, + const double q_w, const double q_x, const double q_y, const double q_z, + const double t_var, const double q_var) + { + return (new ceres::AutoDiffCostFunction< + RelativeRTError, 6, 4, 3, 4, 3>( + new RelativeRTError(t_x, t_y, t_z, q_w, q_x, q_y, q_z, t_var, q_var))); + } + + double t_x, t_y, t_z, t_norm; + double q_w, q_x, q_y, q_z; + double t_var, q_var; + +}; \ No newline at end of file diff --git a/global_fusion/src/KITTIGPSTest.cpp b/global_fusion/src/KITTIGPSTest.cpp new file mode 100644 index 0000000..a313c69 --- /dev/null +++ b/global_fusion/src/KITTIGPSTest.cpp @@ -0,0 +1,188 @@ +// +// Created by admin1 on 27.08.2022. +// + +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include +#include +#include +#include +#include +#include + + +using namespace std; + +ros::Publisher pubGPS; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "kitti_glob"); + ros::NodeHandle n("~"); + ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); + + pubGPS = n.advertise("/gps", 1000); + + if(argc != 3) + { + printf("please intput: rosrun vins kitti_gps_test [config file] [data folder] \n" + "for example: rosrun vins kitti_gps_test " + "~/catkin_ws/src/VINS-Fusion/config/kitti_raw/kitti_10_03_config.yaml " + "/media/tony-ws1/disk_D/kitti/2011_10_03/2011_10_03_drive_0027_sync/ \n"); + return 1; + } + + string config_file = argv[1]; + printf("config_file: %s\n", argv[1]); + string sequence = argv[2]; + printf("read sequence: %s\n", argv[2]); + string dataPath = sequence + "/"; + + // load image list + FILE* file; + file = std::fopen((dataPath + "image_00/timestamps.txt").c_str() , "r"); + if(file == NULL){ + printf("cannot find file: %simage_00/timestamps.txt \n", dataPath.c_str()); + ROS_BREAK(); + return 0; + } + vector imageTimeList; + int year, month, day; + int hour, minute; + double second; + while (fscanf(file, "%d-%d-%d %d:%d:%lf", &year, &month, &day, &hour, &minute, &second) != EOF) + { + //printf("%lf\n", second); + imageTimeList.push_back(hour * 60 * 60 + minute * 60 + second); + } + std::fclose(file); + + // load gps list + vector GPSTimeList; + { + FILE* file; + file = std::fopen((dataPath + "oxts/timestamps.txt").c_str() , "r"); + if(file == NULL){ + printf("cannot find file: %soxts/timestamps.txt \n", dataPath.c_str()); + ROS_BREAK(); + return 0; + } + int year, month, day; + int hour, minute; + double second; + while (fscanf(file, "%d-%d-%d %d:%d:%lf", &year, &month, &day, &hour, &minute, &second) != EOF) + { + //printf("%lf\n", second); + GPSTimeList.push_back(hour * 60 * 60 + minute * 60 + second); + } + std::fclose(file); + } + + readParameters(config_file); + estimator.setParameter(); + registerPub(n); + + FILE* outFile; + outFile = fopen((OUTPUT_FOLDER + "/vio.txt").c_str(),"w"); + if(outFile == NULL) + printf("Output path dosen't exist: %s\n", OUTPUT_FOLDER.c_str()); + string leftImagePath, rightImagePath; + cv::Mat imLeft, imRight; + double baseTime; + + for (size_t i = 0; i < imageTimeList.size(); i++) + { + if(ros::ok()) + { + if(imageTimeList[0] < GPSTimeList[0]) + baseTime = imageTimeList[0]; + else + baseTime = GPSTimeList[0]; + + //printf("base time is %f\n", baseTime); + printf("process image %d\n", (int)i); + stringstream ss; + ss << setfill('0') << setw(10) << i; + leftImagePath = dataPath + "image_00/data/" + ss.str() + ".png"; + rightImagePath = dataPath + "image_01/data/" + ss.str() + ".png"; + printf("%s\n", leftImagePath.c_str() ); + printf("%s\n", rightImagePath.c_str() ); + + imLeft = cv::imread(leftImagePath, cv::IMREAD_GRAYSCALE ); + imRight = cv::imread(rightImagePath, cv::IMREAD_GRAYSCALE ); + + double imgTime = imageTimeList[i] - baseTime; + + // load gps + FILE* GPSFile; + string GPSFilePath = dataPath + "oxts/data/" + ss.str() + ".txt"; + GPSFile = std::fopen(GPSFilePath.c_str() , "r"); + if(GPSFile == NULL){ + printf("cannot find file: %s\n", GPSFilePath.c_str()); + ROS_BREAK(); + return 0; + } + double lat, lon, alt, roll, pitch, yaw; + double vn, ve, vf, vl, vu; + double ax, ay, az, af, al, au; + double wx, wy, wz, wf, wl, wu; + double pos_accuracy, vel_accuracy; + double navstat, numsats; + double velmode, orimode; + + fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &lat, &lon, &alt, &roll, &pitch, &yaw); + //printf("lat:%lf lon:%lf alt:%lf roll:%lf pitch:%lf yaw:%lf \n", lat, lon, alt, roll, pitch, yaw); + fscanf(GPSFile, "%lf %lf %lf %lf %lf ", &vn, &ve, &vf, &vl, &vu); + //printf("vn:%lf ve:%lf vf:%lf vl:%lf vu:%lf \n", vn, ve, vf, vl, vu); + fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &ax, &ay, &az, &af, &al, &au); + //printf("ax:%lf ay:%lf az:%lf af:%lf al:%lf au:%lf\n", ax, ay, az, af, al, au); + fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &wx, &wy, &wz, &wf, &wl, &wu); + //printf("wx:%lf wy:%lf wz:%lf wf:%lf wl:%lf wu:%lf\n", wx, wy, wz, wf, wl, wu); + fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &pos_accuracy, &vel_accuracy, &navstat, &numsats, &velmode, &orimode); + //printf("pos_accuracy:%lf vel_accuracy:%lf navstat:%lf numsats:%lf velmode:%lf orimode:%lf\n", + // pos_accuracy, vel_accuracy, navstat, numsats, velmode, orimode); + + std::fclose(GPSFile); + + sensor_msgs::NavSatFix gps_position; + gps_position.header.frame_id = "NED"; + gps_position.header.stamp = ros::Time(imgTime); + gps_position.status.status = navstat; + gps_position.status.service = numsats; + gps_position.latitude = lat; + gps_position.longitude = lon; + gps_position.altitude = alt; + gps_position.position_covariance[0] = pos_accuracy; + //printf("pos_accuracy %f \n", pos_accuracy); + pubGPS.publish(gps_position); + + estimator.inputImage(imgTime, imLeft, imRight); + + Eigen::Matrix pose; + estimator.getPoseInWorldFrame(pose); + if(outFile != NULL) + fprintf (outFile, "%f %f %f %f %f %f %f %f %f %f %f %f \n",pose(0,0), pose(0,1), pose(0,2),pose(0,3), + pose(1,0), pose(1,1), pose(1,2),pose(1,3), + pose(2,0), pose(2,1), pose(2,2),pose(2,3)); + + // cv::imshow("leftImage", imLeft); + // cv::imshow("rightImage", imRight); + // cv::waitKey(2); + } + else + break; + } + if(outFile != NULL) + fclose (outFile); + return 0; +} \ No newline at end of file diff --git a/global_fusion/src/globalOpt.cpp b/global_fusion/src/globalOpt.cpp new file mode 100644 index 0000000..dc0bc83 --- /dev/null +++ b/global_fusion/src/globalOpt.cpp @@ -0,0 +1,255 @@ +// +// Created by admin1 on 25.08.2022. +// + +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "globalOpt.h" +#include "Factors.h" + +GlobalOptimization::GlobalOptimization() { + initGPS = false; + newGPS = false; + // I suppose the matrix which transforms the gps coordinates to vio (or reverse) + WGPS_T_WVIO = Eigen::Matrix4d::Identity(); + threadOpt = std::thread(&GlobalOptimization::optimize, this); +} + +GlobalOptimization::~GlobalOptimization() { + threadOpt.detach(); +} + +void GlobalOptimization::GPS2XYZ(double latitude, double longitude, double altitude, double* xyz){ + if (!initGPS) + { + geoConverter.Reset(latitude, longitude, altitude); + initGPS = true; + } + geoConverter.Forward(latitude, longitude, altitude, xyz[0], xyz[1], xyz[2]); +} + +void GlobalOptimization::inputOdom(double t, Eigen::Vector3d OdomP, Eigen::Quaterniond OdomQ){ + mPoseMap.lock(); + vector localPose{OdomP.x(), OdomP.y(), OdomP.z(), + OdomQ.w(), OdomQ.x(), OdomQ.y(), OdomQ.z()}; + localPoseMap[t] = localPose; + + Eigen::Quaterniond globalQ; + globalQ = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomQ; + Eigen::Vector3d globalP = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomP + WGPS_T_WVIO.block<3, 1>(0, 3); + vector globalPose{globalP.x(), globalP.y(), globalP.z(), + globalQ.w(), globalQ.x(), globalQ.y(), globalQ.z()}; + globalPoseMap[t] = globalPose; + lastP = globalP; + lastQ = globalQ; + + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header.stamp = ros::Time(t); + pose_stamped.header.frame_id = "gps_global"; + pose_stamped.pose.position.x = lastP.x(); + pose_stamped.pose.position.y = lastP.y(); + pose_stamped.pose.position.z = lastP.z(); + pose_stamped.pose.orientation.x = lastQ.x(); + pose_stamped.pose.orientation.y = lastQ.y(); + pose_stamped.pose.orientation.z = lastQ.z(); + pose_stamped.pose.orientation.w = lastQ.w(); + global_path.header = pose_stamped.header; + global_path.poses.push_back(pose_stamped); + + mPoseMap.unlock(); +}; + +void GlobalOptimization::getGlobalOdom(Eigen::Vector3d &odomP, Eigen::Quaterniond &odomQ){ + odomP = lastP; + odomQ = lastQ; +} + +void GlobalOptimization::inputGPS(double t, double latitude, double longitude, double altitude, double posAccuracy){ + double xyz[3]; + GPS2XYZ(latitude, longitude, altitude, xyz); + vector tmp{xyz[0], xyz[1], xyz[2], posAccuracy}; + //printf("new gps: t: %f x: %f y: %f z:%f \n", t, tmp[0], tmp[1], tmp[2]); + GPSPositionMap[t] = tmp; + newGPS = true; +} + +void GlobalOptimization::optimize(){ + while(true){ + if (newGPS){ + newGPS = false; + printf("global optimization\n"); + TicToc globalOptimizationTime; + + ceres::Problem problem; + ceres::Solver::Options options; + options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY; + options.max_num_iterations = 5; + ceres::Solver::Summary summary; + ceres::LossFunction *loss_function; + loss_function = new ceres::HuberLoss(1.0); + ceres::LocalParameterization* local_parameterization = new ceres::QuaternionParameterization(); + + //add param + mPoseMap.lock(); + int length = localPoseMap.size(); + double t_array[length][3]; + double q_array[length][4]; + map>::iterator iter; + iter = globalPoseMap.begin(); + for (int i = 0; i < length; i++, iter++){ + t_array[i][0] = iter->second[0]; + t_array[i][1] = iter->second[1]; + t_array[i][2] = iter->second[2]; + q_array[i][0] = iter->second[3]; + q_array[i][1] = iter->second[4]; + q_array[i][2] = iter->second[5]; + q_array[i][3] = iter->second[6]; + problem.AddParameterBlock(q_array[i], 4, local_parameterization); + problem.AddParameterBlock(t_array[i], 3); + } + map>::iterator iterVIO, iterVIONext, iterGPS; + int i = 0; + for (iterVIO = localPoseMap.begin(); iterVIO != localPoseMap.end(); iterVIO++, i++) + { + //vio factor + iterVIONext = iterVIO; + iterVIONext++; + if(iterVIONext != localPoseMap.end()) + { + Eigen::Matrix4d wTi = Eigen::Matrix4d::Identity(); + Eigen::Matrix4d wTj = Eigen::Matrix4d::Identity(); + wTi.block<3, 3>(0, 0) = Eigen::Quaterniond(iterVIO->second[3], iterVIO->second[4], + iterVIO->second[5], iterVIO->second[6]).toRotationMatrix(); + wTi.block<3, 1>(0, 3) = Eigen::Vector3d(iterVIO->second[0], iterVIO->second[1], iterVIO->second[2]); + wTj.block<3, 3>(0, 0) = Eigen::Quaterniond(iterVIONext->second[3], iterVIONext->second[4], + iterVIONext->second[5], iterVIONext->second[6]).toRotationMatrix(); + wTj.block<3, 1>(0, 3) = Eigen::Vector3d(iterVIONext->second[0], iterVIONext->second[1], iterVIONext->second[2]); + Eigen::Matrix4d iTj = wTi.inverse() * wTj; + Eigen::Quaterniond iQj; + iQj = iTj.block<3, 3>(0, 0); + Eigen::Vector3d iPj = iTj.block<3, 1>(0, 3); + + ceres::CostFunction* vio_function = RelativeRTError::Create(iPj.x(), iPj.y(), iPj.z(), + iQj.w(), iQj.x(), iQj.y(), iQj.z(), + 0.1, 0.01); + problem.AddResidualBlock(vio_function, NULL, q_array[i], t_array[i], q_array[i+1], t_array[i+1]); + + /* + double **para = new double *[4]; + para[0] = q_array[i]; + para[1] = t_array[i]; + para[3] = q_array[i+1]; + para[4] = t_array[i+1]; + + double *tmp_r = new double[6]; + double **jaco = new double *[4]; + jaco[0] = new double[6 * 4]; + jaco[1] = new double[6 * 3]; + jaco[2] = new double[6 * 4]; + jaco[3] = new double[6 * 3]; + vio_function->Evaluate(para, tmp_r, jaco); + + std::cout << Eigen::Map>(tmp_r).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[1]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[2]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[3]) << std::endl + << std::endl; + */ + + } + //gps factor + double t = iterVIO->first; + iterGPS = GPSPositionMap.find(t); + if (iterGPS != GPSPositionMap.end()) + { + ceres::CostFunction* gps_function = TError::Create(iterGPS->second[0], iterGPS->second[1], + iterGPS->second[2], iterGPS->second[3]); + //printf("inverse weight %f \n", iterGPS->second[3]); + problem.AddResidualBlock(gps_function, loss_function, t_array[i]); + + /* + double **para = new double *[1]; + para[0] = t_array[i]; + + double *tmp_r = new double[3]; + double **jaco = new double *[1]; + jaco[0] = new double[3 * 3]; + gps_function->Evaluate(para, tmp_r, jaco); + + std::cout << Eigen::Map>(tmp_r).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + */ + } + + } + //mPoseMap.unlock(); + ceres::Solve(options, &problem, &summary); + //std::cout << summary.BriefReport() << "\n"; + + // update global pose + //mPoseMap.lock(); + iter = globalPoseMap.begin(); + for (int i = 0; i < length; i++, iter++) + { + vector globalPose{t_array[i][0], t_array[i][1], t_array[i][2], + q_array[i][0], q_array[i][1], q_array[i][2], q_array[i][3]}; + iter->second = globalPose; + if(i == length - 1) + { + Eigen::Matrix4d WVIO_T_body = Eigen::Matrix4d::Identity(); + Eigen::Matrix4d WGPS_T_body = Eigen::Matrix4d::Identity(); + double t = iter->first; + WVIO_T_body.block<3, 3>(0, 0) = Eigen::Quaterniond(localPoseMap[t][3], localPoseMap[t][4], + localPoseMap[t][5], localPoseMap[t][6]).toRotationMatrix(); + WVIO_T_body.block<3, 1>(0, 3) = Eigen::Vector3d(localPoseMap[t][0], localPoseMap[t][1], localPoseMap[t][2]); + WGPS_T_body.block<3, 3>(0, 0) = Eigen::Quaterniond(globalPose[3], globalPose[4], + globalPose[5], globalPose[6]).toRotationMatrix(); + WGPS_T_body.block<3, 1>(0, 3) = Eigen::Vector3d(globalPose[0], globalPose[1], globalPose[2]); + WGPS_T_WVIO = WGPS_T_body * WVIO_T_body.inverse(); + } + } + updateGlobalPath(); + //printf("global time %f \n", globalOptimizationTime.toc()); + mPoseMap.unlock(); + } + std::chrono::milliseconds dura(2000); + std::this_thread::sleep_for(dura); + } + return; +} + +void GlobalOptimization::updateGlobalPath() +{ + global_path.poses.clear(); + map>::iterator iter; + for (iter = globalPoseMap.begin(); iter != globalPoseMap.end(); iter++) + { + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header.stamp = ros::Time(iter->first); + pose_stamped.header.frame_id = "gps_global"; + pose_stamped.pose.position.x = iter->second[0]; + pose_stamped.pose.position.y = iter->second[1]; + pose_stamped.pose.position.z = iter->second[2]; + pose_stamped.pose.orientation.w = iter->second[3]; + pose_stamped.pose.orientation.x = iter->second[4]; + pose_stamped.pose.orientation.y = iter->second[5]; + pose_stamped.pose.orientation.z = iter->second[6]; + global_path.poses.push_back(pose_stamped); + } +} \ No newline at end of file diff --git a/global_fusion/src/globalOpt.h b/global_fusion/src/globalOpt.h new file mode 100644 index 0000000..dd8e9e5 --- /dev/null +++ b/global_fusion/src/globalOpt.h @@ -0,0 +1,66 @@ +// +// Created by admin1 on 25.08.2022. +// + +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#ifndef GLOBAL_FUSION_GLOBALOPT_H +#define GLOBAL_FUSION_GLOBALOPT_H + +#endif //GLOBAL_FUSION_GLOBALOPT_H + +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "LocalCartesian.hpp" +#include "tic_toc.h" + +using namespace std; + +class GlobalOptimization +{ +public: + GlobalOptimization(); + ~GlobalOptimization(); + void inputGPS(double t, double latitude, double longitude, double altitude, double posAccuracy); + void inputOdom(double t, Eigen::Vector3d OdomP, Eigen::Quaterniond OdomQ); + void getGlobalOdom(Eigen::Vector3d &odomP, Eigen::Quaterniond &domQ); + nav_msgs::Path global_path; + +private: + // this function is interesting. I suppose it transforms from the gps coordinate system to the + // local (vins) coordinate system. Which has the center at the start of the sequence by the way. + void GPS2XYZ(double latitude, double longitude, double altitude, double* xyz); + void optimize(); + void updateGlobalPath(); + + // format t, tx, ty, tz, qw, qx, qy, qz + map> localPoseMap; + map> globalPoseMap; + map> GPSPositionMap; + bool initGPS; + bool newGPS; + GeographicLib::LocalCartesian geoConverter; + std::mutex mPoseMap; + Eigen::Matrix4d WGPS_T_WVIO; + Eigen::Vector3d lastP; + Eigen::Quaterniond lastQ; + std::thread threadOpt; +}; \ No newline at end of file diff --git a/global_fusion/src/globalOptNode.cpp b/global_fusion/src/globalOptNode.cpp new file mode 100644 index 0000000..ad9a008 --- /dev/null +++ b/global_fusion/src/globalOptNode.cpp @@ -0,0 +1,203 @@ +// +// Created by admin1 on 25.08.2022. +// + +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "ros/ros.h" +#include "globalOpt.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +GlobalOptimization globalEstimator; +ros::Publisher pub_global_odometry, pub_global_path, pub_car, pub_imu_tf_global; +nav_msgs::Path *global_path; +// we need to use pointer becuase otherwise TransformBroadcaster will be initializing here, before +// ros::init() called +std::shared_ptr TfBr; +double last_vio_t = -1; +std::queue gpsQueue; +std::mutex m_buf; + +void publish_car_model(double t, Eigen::Vector3d t_w_car, Eigen::Quaterniond q_w_car) +{ + visualization_msgs::MarkerArray markerArray_msg; + visualization_msgs::Marker car_mesh; + car_mesh.header.stamp = ros::Time(t); + car_mesh.header.frame_id = "gps_global"; + car_mesh.type = visualization_msgs::Marker::MESH_RESOURCE; + car_mesh.action = visualization_msgs::Marker::ADD; + car_mesh.id = 0; + + car_mesh.mesh_resource = "package://global_fusion/models/car.dae"; + + Eigen::Matrix3d rot; + rot << 0, 0, -1, 0, -1, 0, -1, 0, 0; + + Eigen::Quaterniond Q; + Q = q_w_car * rot; + car_mesh.pose.position.x = t_w_car.x(); + car_mesh.pose.position.y = t_w_car.y(); + car_mesh.pose.position.z = t_w_car.z(); + car_mesh.pose.orientation.w = Q.w(); + car_mesh.pose.orientation.x = Q.x(); + car_mesh.pose.orientation.y = Q.y(); + car_mesh.pose.orientation.z = Q.z(); + + car_mesh.color.a = 1.0; + car_mesh.color.r = 1.0; + car_mesh.color.g = 0.0; + car_mesh.color.b = 0.0; + + float major_scale = 2.0; + + car_mesh.scale.x = major_scale; + car_mesh.scale.y = major_scale; + car_mesh.scale.z = major_scale; + markerArray_msg.markers.push_back(car_mesh); + pub_car.publish(markerArray_msg); +} + +void GPS_callback(const sensor_msgs::NavSatFixConstPtr &GPS_msg) +{ + //printf("gps_callback! \n"); + m_buf.lock(); + gpsQueue.push(GPS_msg); + m_buf.unlock(); +} + +void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) +{ + //printf("vio_callback! \n"); + double t = pose_msg->header.stamp.toSec(); + last_vio_t = t; + Eigen::Vector3d vio_t(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y, pose_msg->pose.pose.position.z); + Eigen::Quaterniond vio_q; + vio_q.w() = pose_msg->pose.pose.orientation.w; + vio_q.x() = pose_msg->pose.pose.orientation.x; + vio_q.y() = pose_msg->pose.pose.orientation.y; + vio_q.z() = pose_msg->pose.pose.orientation.z; + globalEstimator.inputOdom(t, vio_t, vio_q); + + + m_buf.lock(); + while(!gpsQueue.empty()) + { + sensor_msgs::NavSatFixConstPtr GPS_msg = gpsQueue.front(); + double gps_t = GPS_msg->header.stamp.toSec(); + printf("vio t: %f, gps t: %f \n", t, gps_t); + // 10ms sync tolerance + // PI: Let's change the sync tolerance from 10 ms to 100 ms +// if(gps_t >= t - 0.01 && gps_t <= t + 0.01) + if(gps_t >= t - 0.1 && gps_t <= t + 0.1) + { + //printf("receive GPS with timestamp %f\n", GPS_msg->header.stamp.toSec()); + double latitude = GPS_msg->latitude; + double longitude = GPS_msg->longitude; + double altitude = GPS_msg->altitude; + //int numSats = GPS_msg->status.service; + // it was made for KITTI dataset before, which only gives the one parameter. But here we have 3 variances + // (the other values in the covariance matrix are 0). + double pos_accuracy; + pos_accuracy = std::sqrt( pow(GPS_msg->position_covariance[0], 2.0) + pow(GPS_msg->position_covariance[4], 2) + pow(GPS_msg->position_covariance[8], 2) ); + if(pos_accuracy <= 0) + pos_accuracy = 1; + //printf("receive covariance %lf \n", pos_accuracy); + //if(GPS_msg->status.status > 8) + globalEstimator.inputGPS(t, latitude, longitude, altitude, pos_accuracy); + gpsQueue.pop(); + break; + } + else if(gps_t < t - 0.01) + gpsQueue.pop(); + else if(gps_t > t + 0.01) + break; + } + m_buf.unlock(); + + Eigen::Vector3d global_t; + Eigen:: Quaterniond global_q; + globalEstimator.getGlobalOdom(global_t, global_q); + + nav_msgs::Odometry odometry; + odometry.header = pose_msg->header; + odometry.header.frame_id = "gps_global"; + odometry.child_frame_id = "cam0_gps"; + odometry.pose.pose.position.x = global_t.x(); + odometry.pose.pose.position.y = global_t.y(); + odometry.pose.pose.position.z = global_t.z(); + odometry.pose.pose.orientation.x = global_q.x(); + odometry.pose.pose.orientation.y = global_q.y(); + odometry.pose.pose.orientation.z = global_q.z(); + odometry.pose.pose.orientation.w = global_q.w(); + pub_global_odometry.publish(odometry); + pub_global_path.publish(*global_path); + publish_car_model(t, global_t, global_q); + + // Publish the tf so that Camera can bind to it. + tf::StampedTransform trans; + trans.frame_id_ = "gps_global"; + trans.child_frame_id_ = "cam0_gps"; + trans.stamp_ = pose_msg->header.stamp; + tf::Quaternion quat(global_q.x(), global_q.y(), global_q.z(), global_q.w()); + trans.setRotation(quat); + tf::Vector3 orig(global_t.x(), global_t.y(), global_t.z()); + trans.setOrigin(orig); + TfBr->sendTransform(trans); +// pub_imu_tf_global.publish(trans); + + // write result to file + std::ofstream foutC("/home/admin1/workspace/catkin_ws_ov/src/open_vins/global_fusion/data/vio_global.csv", ios::app); + foutC.setf(ios::fixed, ios::floatfield); + foutC.precision(0); + foutC << pose_msg->header.stamp.toSec() * 1e9 << ","; + foutC.precision(5); + foutC << global_t.x() << "," + << global_t.y() << "," + << global_t.z() << "," + << global_q.w() << "," + << global_q.x() << "," + << global_q.y() << "," + << global_q.z() << endl; + foutC.close(); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "globalEstimator"); + ros::NodeHandle n("~"); + + global_path = &globalEstimator.global_path; + TfBr = std::make_shared(); + + ros::Subscriber sub_GPS = n.subscribe("/gps", 100, GPS_callback); + ros::Subscriber sub_vio = n.subscribe("/vins_estimator/odometry", 100, vio_callback); + pub_global_path = n.advertise("global_path", 100); + pub_global_odometry = n.advertise("global_odometry", 100); +// pub_imu_tf_global = n.advertise("tf_imu_global", 100); + pub_car = n.advertise("car_model", 1000); + ros::spin(); + return 0; +} \ No newline at end of file diff --git a/global_fusion/src/tic_toc.h b/global_fusion/src/tic_toc.h new file mode 100644 index 0000000..8b27d38 --- /dev/null +++ b/global_fusion/src/tic_toc.h @@ -0,0 +1,47 @@ +// +// Created by admin1 on 25.08.2022. +// + +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#ifndef GLOBAL_FUSION_TIC_TOC_H +#define GLOBAL_FUSION_TIC_TOC_H + +#endif //GLOBAL_FUSION_TIC_TOC_H + +#pragma once + +#include +#include +#include + +class TicToc +{ +public: + TicToc() + { + tic(); + } + + void tic() + { + start = std::chrono::system_clock::now(); + } + + double toc() + { + end = std::chrono::system_clock::now(); + std::chrono::duration elapsed_seconds = end - start; + return elapsed_seconds.count() * 1000; + } + +private: + std::chrono::time_point start, end; +}; diff --git a/ov_msckf/launch/subscribe_kitti.launch b/ov_msckf/launch/subscribe_kitti.launch new file mode 100644 index 0000000..ba07047 --- /dev/null +++ b/ov_msckf/launch/subscribe_kitti.launch @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ov_msckf/src/imrender_combine.cpp b/ov_msckf/src/imrender_combine.cpp index ca4422c..fdd3ab8 100644 --- a/ov_msckf/src/imrender_combine.cpp +++ b/ov_msckf/src/imrender_combine.cpp @@ -16,7 +16,11 @@ std::vector sensor_images; ros::Publisher pub_res, pub_mask, pub_recv_curr_image; +// sMsg - sensor message. rMsg - render message void rendered_image_callback(sensor_msgs::Image::ConstPtr sMsg, sensor_msgs::Image::ConstPtr rMsg){ + // publish the left image to the topic needed for +// pub_recv_curr_image.publish(sMsg); + cv::Mat image, mask; cv_bridge::CvImagePtr bridge_img = cv_bridge::toCvCopy(rMsg, "bgr8"); image = bridge_img->image; @@ -128,7 +132,7 @@ int main(int argc, char* argv[]){ sync->registerCallback(boost::bind(&rendered_image_callback, _1, _2)); pub_res = nh.advertise("/ov_msckf/combined", 2); pub_mask = nh.advertise("/ov_msckf/mask", 2); - pub_recv_curr_image = nh.advertise("/ov_msckf/recv_curr_image", 2); +// pub_recv_curr_image = nh.advertise("/global_fusion_node/sensor_left", 2); ros::spin(); diff --git a/ov_msckf/src/render_cubes.cpp b/ov_msckf/src/render_cubes.cpp index 9386577..625ae9a 100644 --- a/ov_msckf/src/render_cubes.cpp +++ b/ov_msckf/src/render_cubes.cpp @@ -1,19 +1,36 @@ // // Created by Podmogilnyi Ivan on 17.08.2022. // + +// C++ std library +#include +#include + +// ROS library #include #include +#include #include #include +#include +#include -float yCubesVisPos = -2.0; + +// open_vis library +#include + +// thirdparty libraries +#include + + +float yCubesVisPos = -0.5; float skew = 5.0; std::vector> cubeVisPoints = { - {71.215, 32.694, yCubesVisPos+2.5}, + {71.215, 32.694, yCubesVisPos+2.0}, // {81.668, 26.227, yCubesVisPos}, - {104.061, 36.691, yCubesVisPos+2.0}, + {104.061, 36.691, yCubesVisPos+1.5}, // {90.726, 32.825, yCubesVisPos}, - {109.541, 60.415, yCubesVisPos+1.5}, + {109.541, 60.415, yCubesVisPos+1.0}, // {149.264, 69.490, yCubesVisPos}, {183.605, 91.474, yCubesVisPos+0.5}, // {198.294, 97.113, yCubesVisPos}, @@ -32,12 +49,248 @@ std::vector> cubeVisPoints = { // {1205.432, 681.457, yCubesVisPos}, {1184.375, 735.604, yCubesVisPos}, // {1232.697, 715.647, yCubesVisPos}, - {1244.767, 784.257, yCubesVisPos} -}; + {1244.767, 784.257, yCubesVisPos}, -ros::Publisher pub_cubes; -ros::Subscriber sub_imu; + // CUBES FOR THE GPS ALIGNED TRAJECTORY + {-5.473, 15.819, 0.000}, + + {-15.586, 25.062, 0.000}, + + {-22.395, 43.562, 0.000}, + + {-36.035, 50.009, 0.000}, + + {-41.113, 62.946, 0.000}, + + {-47.675, 62.477, 0.000}, + + {-56.081, 76.612, 0.000}, + + {-68.155, 82.382, 0.000}, + + {-76.903, 97.032, 0.000}, + + {-93.218, 103.532, 0.000}, + + {-121.903, 137.353, 0.000}, + + {-134.567, 140.840, 0.000}, + + {-158.030, 169.709, 0.000}, + + {-170.521, 177.370, 0.000}, + + {-225.440, 236.153, 0.000}, + + {-259.810, 259.846, 0.000}, + + {-287.220, 297.381, 0.000}, + + {-313.876, 312.375, 0.000}, + + {-446.905, 450.175, 0.000}, + + {-489.056, 477.187, 0.000}, + + {-544.828, 555.099, 0.000}, + + {-568.349, 556.457, 0.000}, + + {-638.075, 643.542, 0.000}, + + {-702.377, 676.867, 0.000}, + + {-753.507, 750.003, 0.000}, + + {-807.197, 768.580, 0.000}, + + {-863.780, 829.878, 0.000}, + + {-877.002, 860.185, 0.000}, + + {-905.568, 864.266, 0.000}, + + {-915.407, 887.186, 0.000}, + + {-931.954, 899.596, 0.000}, + + {-936.091, 907.870, 0.000}, + + {-971.656, 952.685, 0.000}, + + {-1012.476, 947.723, 0.000}, + + + {-1016.629, 985.880, 0.000}, + + {-1065.223, 987.986, 0.000}, + + {-1078.723, 1012.979, 0.000}, + + {-1145.907, 1035.300, 0.000}, + + {-1234.198, 1116.285, 0.000}, + + {-1338.651, 1152.282, 0.000}, + + {-1422.556, 1202.064, 0.000}, + + {-1488.881, 1208.139, 0.000}, + + {-1613.822, 1281.229, 0.000}, + + {-1682.561, 1274.593, 0.000}, + + {-1927.827, 1384.315, 0.000}, + + {-2035.692, 1400.027, 0.000}, + + {-2224.536, 1462.204, 0.000}, + + {-2313.168, 1458.187, 0.000}, + + {-2436.409, 1496.333, 0.000}, + + {-2503.565, 1473.606, 0.000}, + + {-2605.994, 1481.901, 0.000}, + + {-2563.683, 1431.523, 0.000}, + + {-2599.753, 1395.453, 0.000}, + + {-2679.961, 1407.933, 0.000}, + + {-2630.649, 1438.753, 0.000}, + + {-2581.338, 1506.557, 0.000}, + + {-2528.483, 1197.294, 0.000}, + + {-2553.878, 1178.248, 0.000}, + + {-2553.878, 1108.412, 0.000}, + + {-2450.511, 1023.108, 0.000}, + + {-2450.511, 967.579, 0.000}, + + {-2437.486, 890.971, 0.000}, + + {-2450.511, 819.504, 0.000}, + + {-2365.134, 690.688, 0.000}, + + {-2296.590, 541.293, 0.000}, + + {-2283.679, 620.835, 0.000}, + + {-2151.879, 318.478, 0.000}, + + {-2176.409, 287.816, 0.000}, + + {-2102.820, 251.022, 0.000}, + + {-2127.350, 189.698, 0.000}, + + {-2028.905, 122.896, 0.000}, + + {-2046.821, 66.008, 0.000}, + + {-1958.025, 1.247, 0.000}, + + {-1886.644, -52.849, 0.000}, + + {-1863.596, -64.373, 0.000}, + + {-1783.239, -134.282, 0.000}, + + {-1705.906, -151.254, 0.000}, + + {-1617.356, -206.598, 0.000}, + + {-1565.032, -222.410, 0.000}, + + {-1465.740, -282.723, 0.000}, + + {-1361.237, -309.086, 0.000}, + + {-1276.829, -355.967, 0.000}, + + {-1236.832, -350.967, 0.000}, + + {-1170.082, -368.522, 0.000}, + + {-1145.877, -386.675, 0.000}, + + {-1133.776, -374.573, 0.000}, + + {-1064.985, -381.088, 0.000}, + + {-1060.602, -409.499, 0.000}, + + {-943.535, -368.153, 0.000}, + + {-852.780, -365.980, 0.000}, + + {-747.917, -375.279, 0.000}, + + {-694.244, -346.169, 0.000}, + + {-724.264, -360.724, 0.000}, + + {-601.465, -334.072, 0.000}, + + {-557.205, -336.465, 0.000}, + + {-564.189, -332.895, 0.000}, + + {-520.468, -340.201, 0.000}, + + {-476.908, -317.140, 0.000}, + + {-417.040, -318.781, 0.000}, + + {-377.842, -296.022, 0.000}, + + {-309.273, -302.223, 0.000}, + + {-267.572, -281.072, 0.000}, + + {-233.495, -287.929, 0.000}, + + {-211.795, -257.754, 0.000}, + + {-209.412, -234.544, 0.000}, + + {-144.978, -252.842, 0.000}, + + {-86.550, -255.100, 0.000}, + + {-57.889, -200.404, 0.000}, + + {-12.395, -168.373, 0.000}, + + {-8.988, -117.709, 0.000}, + + {-5.494, -73.048, 0.000}, + + {12.541, -24.783, 0.000}, + + {-8.001, 22.391, 0.000}, + + {-7.999, -85.193, 0.000}, + + {-61.402, 98.350, 0.000} + +}; +std::vector> cashedCubeVisPoints; + +ros::Publisher pub_cubes, pub_aligned_traj, pub_sensor_left_gps; +ros::Subscriber sub_imu, subs_T_align, sub_stereo_left; visualization_msgs::Marker Marker; +std::ofstream fT_aligned; +nav_msgs::Path curr_path; void callback_imu(const sensor_msgs::Imu::ConstPtr &msg){ ROS_INFO_STREAM("received imu"); @@ -45,17 +298,109 @@ void callback_imu(const sensor_msgs::Imu::ConstPtr &msg){ } +void T_align_callback(const geometry_msgs::TransformStamped &msg){ + // the main thing + const uint pointsLen = cubeVisPoints.size(); + std::cout << "1" << std::endl; + Eigen::MatrixXd points(pointsLen, 4); + Eigen::Matrix4d T_align; + + Eigen::Vector4d qRot; + qRot << msg.transform.rotation.x, msg.transform.rotation.y, msg.transform.rotation.z, msg.transform.rotation.w; + Eigen::Matrix3d mRot = ov_core::quat_2_Rot(qRot); + + for (int i=0;i<3;i++){ + for (int j=0;j<3;j++){ + T_align(i,j) = mRot(i,j); + } + } + std::cout << "2" << std::endl; + T_align(0,3) = msg.transform.translation.x; + T_align(1,3) = msg.transform.translation.y; + T_align(2,3) = msg.transform.translation.z; + T_align(3,3) = 1; + std::cout << "3" << std::endl; + + for (int i=0;iheader.frame_id = "cam0_gps"; + pub_sensor_left_gps.publish(msg); +} + int main(int argc, char* argv[]){ ros::init(argc, argv, "render_cubes"); ros::NodeHandle nh; + fT_aligned.open("T_aligned_history.txt"); + if (!fT_aligned.is_open()){ + ROS_INFO("error opening file!"); + } + else{ + ROS_INFO("file open success!"); + std::string curr_path = std::filesystem::current_path(); + std::string output_str = "current path is: " + curr_path; + ROS_INFO(output_str.c_str()); + + } + // the idea: set the subscriber for IMU, and every time the IMU measurement comes, publish - // the cubes because the images are also publish when the IMU measurement arrives. + // the cubes because the images are also published when the IMU measurement arrives. sub_imu = nh.subscribe("/imu/data_raw", 1000, &callback_imu); pub_cubes = nh.advertise("/ov_msckf/vis_markers", 0); + pub_aligned_traj = nh.advertise("/ov_msckf/pathaligned", 2); - Marker.header.frame_id = "global"; + // a lame fix: create the subscirber here which sends the message from /stereo/left/image_raw to /global_fusion_node/sensor_left + sub_stereo_left = nh.subscribe("/stereo/left/image_raw", 1000, &callback_stereo_left_gps); + pub_sensor_left_gps = nh.advertise("/global_fusion_node/sensor_left", 2); + + //// UNCOMMENT THIS TO RESTORE THE T_align_callback +// subs_T_align = nh.subscribe("/ov_msckf/T_align", 1000, T_align_callback); + + Marker.header.frame_id = "gps_global"; Marker.header.stamp = ros::Time(); Marker.ns = "my_namespace"; Marker.id = 0; diff --git a/ov_msckf/src/ros/ROS1Visualizer.cpp b/ov_msckf/src/ros/ROS1Visualizer.cpp index d1258d2..fb65f23 100644 --- a/ov_msckf/src/ros/ROS1Visualizer.cpp +++ b/ov_msckf/src/ros/ROS1Visualizer.cpp @@ -93,9 +93,6 @@ ROS1Visualizer::ROS1Visualizer(std::shared_ptr nh, std::shared_ } fT_aligned << "ts mT_aligned" << std::endl; - //// UNCOMMENT THIS TO RESTORE THE T_align_callback -// subs_T_align = nh->subscribe("/ov_msckf/T_align", 1000, &ROS1Visualizer::T_align_callback, this); - std::ifstream fileTraj; fileTraj.open("/home/pi/workspace/catkin_ws_ov/src/open_vins/ov_data/merged.txt"); Eigen::Matrix extractedValues; @@ -136,6 +133,9 @@ ROS1Visualizer::ROS1Visualizer(std::shared_ptr nh, std::shared_ pub_camera_info = nh->advertise("/ov_msckf/camera_info", 2); pub_cam0_info = nh->advertise("/ov_msckf/cam0_info", 2); + pub_gps_cam0_info = nh->advertise("/global_fusion_node/camera_info", 2); + +//sensor_left_gps_pub = it.advertise("/global_fusion_node/sensor_left", 2); //// UNCOMMENT THIS IN ORDER TO RESTORE THE CUBES RENDERING // vis_pub = nh->advertise("/ov_msckf/vis_markers", 0); // pub_camera_info = nh->advertise("/ov_mskcf/camera_info", 2); @@ -755,6 +755,9 @@ void ROS1Visualizer::publish_images() { // sensor_msgs::ImagePtr sensor_left_msg = cv_bridge::CvImage(header, "bgr8", cropped_image).toImageMsg(); // sensor_left_msg->header.seq = sensor_left_id++; sensor_left_pub.publish(original_img_message); + + original_img_message->header.frame_id = "cam0_gps"; + sensor_left_gps_pub.publish(original_img_message); ROS_INFO("Image publish success!"); bool is_fisheye = (std::dynamic_pointer_cast(_app->get_params().camera_intrinsics.at(0)) != nullptr); @@ -783,6 +786,15 @@ void ROS1Visualizer::publish_images() { camInfoGlob.width = exl_msg->width / 2; pub_cam0_info.publish(camInfoGlob); + // publish caminfo for GPS + auto camInfoGPS = sensor_msgs::CameraInfo(); + camInfoGPS = cameraparams; + camInfoGPS.header.frame_id = "cam0_gps"; + camInfoGPS.header.stamp = orig_img_msg_header.stamp; + camInfoGPS.height = exl_msg->height; + camInfoGPS.width = exl_msg->width / 2; + pub_gps_cam0_info.publish(camInfoGPS); + //// UNCOMMENT THIS TO RESTORE THE CUBES PUBLISHING // for (auto & cubeVisPoint : cubeVisPoints){ // geometry_msgs::Point tempPoint; @@ -1041,33 +1053,33 @@ void ROS1Visualizer::publish_loopclosure_information() { pub_loop_intrinsics.publish(cameraparams); // Added by PI - int helllo = 0; -// pub_camera_info.publish(cameraparams); -// pub_camera_info_trackhist.publish(cameraparams); -// {cparams(0), 0, cparams(2), 0, 0, cparams(1), cparams(3), 0, 0, 0, 1} - cameraparams.P = {cparams(0), 0, cparams(2), 0, 0, cparams(1), cparams(3), 0, 0, 0, 1, 0}; - std::cout << "Testing message" << std::endl; - std::cout << "cameraparams.P: " << cameraparams.P.data() << std::endl; - PRINT_DEBUG("cameraparams.P: %d", cameraparams.P.data()); - - sensor_msgs::CameraInfoPtr cameraParamsPtr; - cameraParamsPtr->header = cameraparams.header; - cameraParamsPtr->D = cameraparams.D; - cameraParamsPtr->K = cameraparams.K; - cameraParamsPtr->P = cameraparams.P; - cameraParamsPtr->R = cameraparams.R; - cameraParamsPtr->distortion_model = cameraparams.distortion_model; - cameraParamsPtr->binning_x = cameraparams.binning_x; - cameraParamsPtr->binning_y = cameraparams.binning_y; - cameraParamsPtr->height = cameraparams.height; - cameraParamsPtr->roi = cameraparams.roi; - cameraParamsPtr->width = cameraparams.width; - - camInfoGlob = sensor_msgs::CameraInfo(); - camInfoPtrGlob = cameraParamsPtr; - camInfoGlob = cameraparams; -// camPub.publish(exl_msg_global, cameraparams); - camPub.publish(exl_msg_global, cameraParamsPtr); +// int helllo = 0; +//// pub_camera_info.publish(cameraparams); +//// pub_camera_info_trackhist.publish(cameraparams); +//// {cparams(0), 0, cparams(2), 0, 0, cparams(1), cparams(3), 0, 0, 0, 1} +// cameraparams.P = {cparams(0), 0, cparams(2), 0, 0, cparams(1), cparams(3), 0, 0, 0, 1, 0}; +// std::cout << "Testing message" << std::endl; +// std::cout << "cameraparams.P: " << cameraparams.P.data() << std::endl; +// PRINT_DEBUG("cameraparams.P: %d", cameraparams.P.data()); +// +// sensor_msgs::CameraInfoPtr cameraParamsPtr; +// cameraParamsPtr->header = cameraparams.header; +// cameraParamsPtr->D = cameraparams.D; +// cameraParamsPtr->K = cameraparams.K; +// cameraParamsPtr->P = cameraparams.P; +// cameraParamsPtr->R = cameraparams.R; +// cameraParamsPtr->distortion_model = cameraparams.distortion_model; +// cameraParamsPtr->binning_x = cameraparams.binning_x; +// cameraParamsPtr->binning_y = cameraparams.binning_y; +// cameraParamsPtr->height = cameraparams.height; +// cameraParamsPtr->roi = cameraparams.roi; +// cameraParamsPtr->width = cameraparams.width; +// +// camInfoGlob = sensor_msgs::CameraInfo(); +// camInfoPtrGlob = cameraParamsPtr; +// camInfoGlob = cameraparams; +//// camPub.publish(exl_msg_global, cameraparams); +// camPub.publish(exl_msg_global, cameraParamsPtr); } //====================================================== @@ -1171,70 +1183,3 @@ void ROS1Visualizer::publish_loopclosure_information() { } } -void ROS1Visualizer::T_align_callback(const geometry_msgs::TransformStamped &msg){ - // the main thing - const uint pointsLen = cubeVisPoints.size(); - std::cout << "1" << std::endl; - Eigen::MatrixXd points(pointsLen, 4); - Eigen::Matrix4d T_align; - - Eigen::Vector4d qRot; - qRot << msg.transform.rotation.x, msg.transform.rotation.y, msg.transform.rotation.z, msg.transform.rotation.w; - Eigen::Matrix3d mRot = ov_core::quat_2_Rot(qRot); - - for (int i=0;i<3;i++){ - for (int j=0;j<3;j++){ - T_align(i,j) = mRot(i,j); - } - } - std::cout << "2" << std::endl; - T_align(0,3) = msg.transform.translation.x; - T_align(1,3) = msg.transform.translation.y; - T_align(2,3) = msg.transform.translation.z; - T_align(3,3) = 1; - std::cout << "3" << std::endl; - - for (int i=0;i> cubeVisPoints, cashedCubeVisPoints; image_transport::CameraSubscriber camSub; sensor_msgs::CameraInfoPtr camInfoPtrGlob; - ros::Publisher pub_camera_info, pub_cam0_info; + ros::Publisher pub_camera_info, pub_cam0_info, pub_gps_cam0_info; ros::Publisher vis_pub; sensor_msgs::CameraInfo camInfoGlob; sensor_msgs::ImagePtr exl_msg_global;