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bavoxel.hpp
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#ifndef BAVOXEL_HPP
#define BAVOXEL_HPP
#include "tools.hpp"
#include <Eigen/Eigenvalues>
#include <thread>
int layer_limit = 2;
int layer_size[] = {30, 30, 30, 30};
// float eigen_value_array[] = {1.0/4.0, 1.0/4.0, 1.0/4.0};
float eigen_value_array[4] = {1.0/36, 1.0/25, 1.0/25, 1.0/25};
int min_ps = 15;
double one_three = (1.0 / 3.0);
double voxel_size = 1;
int life_span = 1000;
int win_size = 20;
int merge_enable = 1;
class VOX_HESS
{
public:
vector<const PointCluster*> sig_vecs;
vector<const vector<PointCluster>*> plvec_voxels;
vector<double> coeffs, coeffs_back;
vector<pcl::PointCloud<PointType>::Ptr> plptrs;
void push_voxel(const vector<PointCluster> *vec_orig, const PointCluster *fix, double feat_eigen, int layer)
{
int process_size = 0;
for(int i=0; i<win_size; i++)
if((*vec_orig)[i].N != 0)
process_size++;
if(process_size < 2) return; // 改
double coe = 1 - feat_eigen/eigen_value_array[layer];
coe = coe * coe;
coe = 1;
coe = 0;
for(int j=0; j<win_size; j++)
coe += (*vec_orig)[j].N;
plvec_voxels.push_back(vec_orig);
sig_vecs.push_back(fix);
coeffs.push_back(coe);
pcl::PointCloud<PointType>::Ptr plptr(new pcl::PointCloud<PointType>());
plptrs.push_back(plptr);
}
void acc_evaluate2(const vector<IMUST> &xs, int head, int end, Eigen::MatrixXd &Hess, Eigen::VectorXd &JacT, double &residual)
{
Hess.setZero(); JacT.setZero(); residual = 0;
vector<PointCluster> sig_tran(win_size);
const int kk = 0;
PLV(3) viRiTuk(win_size);
PLM(3) viRiTukukT(win_size);
vector<Eigen::Matrix<double, 3, 6>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 6>>> Auk(win_size);
Eigen::Matrix3d umumT;
for(int a=head; a<end; a++)
{
const vector<PointCluster> &sig_orig = *plvec_voxels[a];
double coe = coeffs[a];
PointCluster sig = *sig_vecs[a];
for(int i=0; i<win_size; i++)
if(sig_orig[i].N != 0)
{
sig_tran[i].transform(sig_orig[i], xs[i]);
sig += sig_tran[i];
}
const Eigen::Vector3d &vBar = sig.v / sig.N;
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> saes(sig.P/sig.N - vBar * vBar.transpose());
const Eigen::Vector3d &lmbd = saes.eigenvalues();
const Eigen::Matrix3d &U = saes.eigenvectors();
int NN = sig.N;
Eigen::Vector3d u[3] = {U.col(0), U.col(1), U.col(2)};
const Eigen::Vector3d &uk = u[kk];
Eigen::Matrix3d ukukT = uk * uk.transpose();
umumT.setZero();
for(int i=0; i<3; i++)
if(i != kk)
umumT += 2.0/(lmbd[kk] - lmbd[i]) * u[i] * u[i].transpose();
for(int i=0; i<win_size; i++)
// for(int i=1; i<win_size; i++)
if(sig_orig[i].N != 0)
{
Eigen::Matrix3d Pi = sig_orig[i].P;
Eigen::Vector3d vi = sig_orig[i].v;
Eigen::Matrix3d Ri = xs[i].R;
double ni = sig_orig[i].N;
Eigen::Matrix3d vihat; vihat << SKEW_SYM_MATRX(vi);
Eigen::Vector3d RiTuk = Ri.transpose() * uk;
Eigen::Matrix3d RiTukhat; RiTukhat << SKEW_SYM_MATRX(RiTuk);
Eigen::Vector3d PiRiTuk = Pi * RiTuk;
viRiTuk[i] = vihat * RiTuk;
viRiTukukT[i] = viRiTuk[i] * uk.transpose();
Eigen::Vector3d ti_v = xs[i].p - vBar;
double ukTti_v = uk.dot(ti_v);
Eigen::Matrix3d combo1 = hat(PiRiTuk) + vihat * ukTti_v;
Eigen::Vector3d combo2 = Ri*vi + ni*ti_v;
Auk[i].block<3, 3>(0, 0) = (Ri*Pi + ti_v*vi.transpose()) * RiTukhat - Ri*combo1;
Auk[i].block<3, 3>(0, 3) = combo2 * uk.transpose() + combo2.dot(uk) * I33;
Auk[i] /= NN;
const Eigen::Matrix<double, 6, 1> &jjt = Auk[i].transpose() * uk;
JacT.block<6, 1>(6*i, 0) += coe * jjt;
const Eigen::Matrix3d &HRt = 2.0/NN * (1.0-ni/NN) * viRiTukukT[i];
Eigen::Matrix<double, 6, 6> Hb = Auk[i].transpose() * umumT * Auk[i];
Hb.block<3, 3>(0, 0) += 2.0/NN * (combo1 - RiTukhat*Pi) * RiTukhat - 2.0/NN/NN * viRiTuk[i] * viRiTuk[i].transpose() - 0.5*hat(jjt.block<3, 1>(0, 0));
Hb.block<3, 3>(0, 3) += HRt;
Hb.block<3, 3>(3, 0) += HRt.transpose();
Hb.block<3, 3>(3, 3) += 2.0/NN * (ni - ni*ni/NN) * ukukT;
Hess.block<6, 6>(6*i, 6*i) += coe * Hb;
}
for(int i=0; i<win_size-1; i++)
// for(int i=1; i<win_size-1; i++)
if(sig_orig[i].N != 0)
{
double ni = sig_orig[i].N;
for(int j=i+1; j<win_size; j++)
if(sig_orig[j].N != 0)
{
double nj = sig_orig[j].N;
Eigen::Matrix<double, 6, 6> Hb = Auk[i].transpose() * umumT * Auk[j];
Hb.block<3, 3>(0, 0) += -2.0/NN/NN * viRiTuk[i] * viRiTuk[j].transpose();
Hb.block<3, 3>(0, 3) += -2.0*nj/NN/NN * viRiTukukT[i];
Hb.block<3, 3>(3, 0) += -2.0*ni/NN/NN * viRiTukukT[j].transpose();
Hb.block<3, 3>(3, 3) += -2.0*ni*nj/NN/NN * ukukT;
Hess.block<6, 6>(6*i, 6*j) += coe * Hb;
}
}
residual += coe * lmbd[kk];
}
for(int i=1; i<win_size; i++)
for(int j=0; j<i; j++)
Hess.block<6, 6>(6*i, 6*j) = Hess.block<6, 6>(6*j, 6*i).transpose();
}
void left_evaluate(const vector<IMUST> &xs, int head, int end, Eigen::MatrixXd &Hess, Eigen::VectorXd &JacT, double &residual)
{
Hess.setZero(); JacT.setZero(); residual = 0;
// vector<PointCluster> sig_tran(win_size);
int l = 0;
Eigen::Matrix<double, 3, 4> Sp;
Sp.setZero(); Sp.block<3, 3>(0, 0).setIdentity();
Eigen::Matrix4d F; F.setZero(); F(3, 3) = 1;
PLM(4) T(win_size);
for(int i=0; i<win_size; i++)
T[i] << xs[i].R, xs[i].p, 0, 0, 0, 1;
vector<PLM(4)*> Cs;
for(int a=0; a<plvec_voxels.size(); a++)
{
const vector<PointCluster> &sig_orig = *plvec_voxels[a];
PLM(4) *Co = new PLM(4)(win_size, Eigen::Matrix4d::Zero());
for(int i=0; i<win_size; i++)
Co->at(i) << sig_orig[i].P, sig_orig[i].v, sig_orig[i].v.transpose(), sig_orig[i].N;
Cs.push_back(Co);
}
double t0 = ros::Time::now().toSec();
for(int a=head; a<end; a++)
{
// const vector<PointCluster> &sig_orig = *plvec_voxels[a];
double coe = coeffs[a];
// PLM(4) Co(win_size, Eigen::Matrix4d::Zero());
Eigen::Matrix4d C; C.setZero();
// for(int i=0; i<win_size; i++)
// if(sig_orig[i].N != 0)
// {
// Co[i] << sig_orig[i].P, sig_orig[i].v, sig_orig[i].v.transpose(), sig_orig[i].N;
// C += T[i] * Co[i] * T[i].transpose();
// }
PLM(4) &Co = *Cs[a];
for(int i=0; i<win_size; i++)
if((int)Co[i](3, 3) > 0)
C += T[i] * Co[i] * T[i].transpose();
double NN = C(3, 3);
C = C / NN;
// Eigen::Vector4d CF = C.block<4, 1>(0, 3);
// cout << CF << endl << endl;
// cout << C*F << endl;
// exit(0);
Eigen::Vector3d v_bar = C.block<3, 1>(0, 3);
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> saes(C.block<3, 3>(0, 0) - v_bar * v_bar.transpose() );
Eigen::Vector3d lmbd = saes.eigenvalues();
Eigen::Matrix3d Uev = saes.eigenvectors();
residual += coe * lmbd[l];
Eigen::Vector3d u[3] = {Uev.col(0), Uev.col(1), Uev.col(2)};
Eigen::Matrix<double, 4, 6> U[3];
PLV(-1) g_kl(3);
for(int k=0; k<3; k++)
{
g_kl[k].resize(6*win_size); g_kl[k].setZero();
U[k].setZero();
U[k].block<3, 3>(0, 0) = hat(u[k]);
U[k].block<1, 3>(3, 3) = u[k];
}
for(int j=0; j<win_size; j++)
for(int k=0; k<3; k++)
if(Co[j](3, 3) > 0.1)
{
Eigen::Matrix<double, 3, 4> SpTC = Sp * (T[j] - C*F) * Co[j] * T[j].transpose();
Eigen::Matrix<double, 1, 6> g1, g2;
g1 = u[l].transpose() * SpTC * U[k];
g2 = u[k].transpose() * SpTC * U[l];
g_kl[k].block<6, 1>(6*j, 0) = (g1 + g2).transpose() / NN;
}
JacT += coe * g_kl[l];
for(int i=0; i<win_size; i++)
if(Co[i](3, 3) > 0.1)
{
for(int j=0; j<win_size; j++)
if(Co[j](3, 3) > 0.1)
{
Eigen::Matrix4d Dij = Co[i] * F * Co[j];
Eigen::Matrix<double, 6, 6> Hs = -2.0/NN/NN * U[l].transpose() * T[i] * Dij * T[j].transpose() * U[l];
if(i == j)
{
Hs += 2/NN * U[l].transpose() * T[j] * Co[j] * T[j].transpose() * U[l];
Eigen::Vector3d SpTC = Sp * T[j] * Co[j] * (T[j] - C*F).transpose() * Sp.transpose() * u[l];
Eigen::Matrix3d h1 = hat(SpTC);
Eigen::Matrix3d h2 = hat(u[l]);
Hs.block<3, 3>(0, 0) += (h1*h2 + h2*h1) / NN;
}
Hess.block<6, 6>(6*i, 6*j) += coe * Hs;
}
}
for(int k=0; k<3; k++)
if(k != l)
Hess += coe * 2.0/(lmbd[l] - lmbd[k]) * g_kl[k] * g_kl[k].transpose();
}
double t1 = ros::Time::now().toSec();
printf("t1: %lf\n", t1 - t0);
// PLM(6) LL(win_size);
// Eigen::Matrix3d zero33; zero33.setZero();
// for(int i=0; i<win_size; i++)
// LL[i] << xs[i].R, zero33, hat(xs[i].p) * xs[i].R, xs[i].R;
// for(int i=0; i<win_size; i++)
// {
// JacT.block<6, 1>(6*i, 0) = LL[i].transpose() * JacT.block<6, 1>(6*i, 0);
// for(int j=0; j<win_size; j++)
// {
// Hess.block<6, 6>(6*i, 6*j) = LL[i].transpose() * Hess.block<6, 6>(6*i, 6*j) * LL[j];
// }
// }
// Eigen::Matrix3d zero33; zero33.setZero();
// Eigen::MatrixXd LL(6*win_size, 6*win_size); LL.setZero();
// for(int i=0; i<win_size; i++)
// {
// LL.block<6, 6>(6*i, 6*i) << xs[i].R, zero33, hat(xs[i].p) * xs[i].R, xs[i].R;
// }
// JacT = LL.transpose() * JacT;
// Hess = LL.transpose() * Hess * LL;
}
void left_evaluate_acc2(const vector<IMUST> &xs, int head, int end, Eigen::MatrixXd &Hess, Eigen::VectorXd &JacT, double &residual)
{
Hess.setZero(); JacT.setZero(); residual = 0;
int l = 0;
PLM(4) T(win_size);
for(int i=0; i<win_size; i++)
T[i] << xs[i].R, xs[i].p, 0, 0, 0, 1;
vector<PLM(4)*> Cs;
for(int a=0; a<plvec_voxels.size(); a++)
{
const vector<PointCluster> &sig_orig = *plvec_voxels[a];
PLM(4) *Co = new PLM(4)(win_size, Eigen::Matrix4d::Zero());
for(int i=0; i<win_size; i++)
Co->at(i) << sig_orig[i].P, sig_orig[i].v, sig_orig[i].v.transpose(), sig_orig[i].N;
Cs.push_back(Co);
}
for(int a=head; a<end; a++)
{
double coe = coeffs[a];
Eigen::Matrix4d C; C.setZero();
vector<int> Ns(win_size);
PLM(4) &Co = *Cs[a];
PLM(4) TC(win_size), TCT(win_size);
for(int j=0; j<win_size; j++)
if((int)Co[j](3, 3) > 0)
{
TC[j] = T[j] * Co[j];
TCT[j] = TC[j] * T[j].transpose();
C += TCT[j];
Ns[j] = Co[j](3, 3);
}
double NN = C(3, 3);
C = C / NN;
Eigen::Vector3d v_bar = C.block<3, 1>(0, 3);
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> saes(C.block<3, 3>(0, 0) - v_bar * v_bar.transpose() );
Eigen::Vector3d lmbd = saes.eigenvalues();
Eigen::Matrix3d Uev = saes.eigenvectors();
residual += coe * lmbd[l];
Eigen::Vector3d u[3] = {Uev.col(0), Uev.col(1), Uev.col(2)};
Eigen::Matrix<double, 6, 4> U[3];
PLV(6) g_kl[3];
for(int k=0; k<3; k++)
{
g_kl[k].resize(win_size);
U[k].setZero();
U[k].block<3, 3>(0, 0) = hat(-u[k]);
U[k].block<3, 1>(3, 3) = u[k];
}
PLV(6) UlTCF(win_size, Eigen::Matrix<double, 6, 1>::Zero());
Eigen::VectorXd JacT_iter(6*win_size);
for(int i=0; i<win_size; i++)
if(Ns[i] != 0)
{
Eigen::Matrix<double, 3, 4> temp = T[i].block<3, 4>(0, 0);
temp.block<3, 1>(0, 3) -= v_bar;
Eigen::Matrix<double, 4, 3> TC_TCFSp = TC[i] * temp.transpose();
for(int k=0; k<3; k++)
{
Eigen::Matrix<double, 6, 1> g1, g2;
g1 = U[k] * TC_TCFSp * u[l];
g2 = U[l] * TC_TCFSp * u[k];
g_kl[k][i] = (g1 + g2) / NN;
}
UlTCF[i] = (U[l] * TC[i]).block<6, 1>(0, 3);
JacT.block<6, 1>(6*i, 0) += coe * g_kl[l][i];
// Eigen::Matrix<double, 6, 6> Hb(2.0/NN * U[l] * TCT[i] * U[l].transpose());
Eigen::Matrix<double, 6, 6> Ha(-2.0/NN/NN * UlTCF[i] * UlTCF[i].transpose());
Eigen::Matrix3d Ell = 1.0/NN * hat(TC_TCFSp.block<3, 3>(0, 0) * u[l]) * hat(u[l]);
Ha.block<3, 3>(0, 0) += Ell + Ell.transpose();
for(int k=0; k<3; k++)
if(k != l)
Ha += 2.0/(lmbd[l] - lmbd[k]) * g_kl[k][i] * g_kl[k][i].transpose();
Hess.block<6, 6>(6*i, 6*i) += coe * Ha;
}
for(int i=0; i<win_size; i++)
if(Ns[i] != 0)
{
Eigen::Matrix<double, 6, 6> Hb = U[l] * TCT[i] * U[l].transpose();
Hess.block<6, 6>(6*i, 6*i) += 2.0 / NN * coe * Hb;
}
for(int i=0; i<win_size-1; i++)
if(Ns[i] != 0)
{
for(int j=i+1; j<win_size; j++)
if(Ns[j] != 0)
{
Eigen::Matrix<double, 6, 6> Ha = -2.0/NN/NN * UlTCF[i] * UlTCF[j].transpose();
for(int k=0; k<3; k++)
if(k != l)
Ha += 2.0/(lmbd[l] - lmbd[k]) * g_kl[k][i] * g_kl[k][j].transpose();
Hess.block<6, 6>(6*i, 6*j) += coe * Ha;
}
}
}
for(int i=1; i<win_size; i++)
for(int j=0; j<i; j++)
Hess.block<6, 6>(6*i, 6*j) = Hess.block<6, 6>(6*j, 6*i).transpose();
}
void evaluate_only_residual(const vector<IMUST> &xs, double &residual)
{
residual = 0;
vector<PointCluster> sig_tran(win_size);
int kk = 0; // The kk-th lambda value
int gps_size = plvec_voxels.size();
vector<double> ress(gps_size);
for(int a=0; a<gps_size; a++)
{
const vector<PointCluster> &sig_orig = *plvec_voxels[a];
PointCluster sig = *sig_vecs[a];
for(int i=0; i<win_size; i++)
{
sig_tran[i].transform(sig_orig[i], xs[i]);
sig += sig_tran[i];
}
Eigen::Vector3d vBar = sig.v / sig.N;
Eigen::Matrix3d cmt = sig.P/sig.N - vBar * vBar.transpose();
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> saes(cmt);
Eigen::Vector3d lmbd = saes.eigenvalues();
residual += coeffs[a] * lmbd[kk];
ress[a] = lmbd[kk];
}
// vector<double> ress_tem = ress;
// sort(ress_tem.begin(), ress_tem.end());
// double bound = 0.8;
// bound = ress_tem[gps_size * bound];
// coeffs = coeffs_back;
// for(int a=0; a<gps_size; a++)
// if(ress[a] > bound)
// coeffs[a] = 0;
}
~VOX_HESS()
{
int vsize = sig_vecs.size();
// for(int i=0; i<vsize; i++)
// {
// delete sig_vecs[i], sig_vecs[i] = nullptr;
// delete plvec_voxels[i], plvec_voxels[i] = nullptr;
// }
}
};
class VOXEL_MERGE
{
public:
vector<const PointCluster*> sig_vecs;
vector<const vector<PointCluster>*> plvec_voxels;
PLV(3) centers, directs, evalues;
vector<pcl::PointCloud<PointType>::Ptr> plptrs;
void push_voxel(const vector<PointCluster> *vec_orig, const PointCluster *fix, Eigen::Vector3d ¢er, Eigen::Vector3d &direct, Eigen::Vector3d &evalue, pcl::PointCloud<PointType>::Ptr plptr = nullptr)
{
int process_size = 0;
for(int i=0; i<win_size; i++)
if((*vec_orig)[i].N != 0)
process_size++;
if(process_size < 2) return;
plvec_voxels.push_back(vec_orig);
sig_vecs.push_back(fix);
centers.push_back(center);
directs.push_back(direct);
evalues.push_back(evalue);
plptrs.push_back(plptr);
}
void reorganize(VOX_HESS &voxhess, pcl::PointCloud<PointType> &pl_send, pcl::PointCloud<PointType> &pl_cent, vector<IMUST> &x_buf)
{
static double cos1 = cos(8/57.3);
static double cos2 = cos(80/57.3);
int vsize = centers.size();
if(vsize <= 0) return;
vector<vector<int>> groups;
groups.push_back(vector<int>());
groups[0].push_back(0);
for(int i=1; i<vsize; i++)
{
Eigen::Vector3d c2 = centers[i];
Eigen::Vector3d direct2 = directs[i];
bool match = false;
if(merge_enable)
{
int gsize = groups.size();
for(int j=0; j<gsize; j++)
{
int surf1 = groups[j][0];
Eigen::Vector3d c2c = c2 - centers[surf1];
double c2cd = c2c.norm();
c2c /= c2cd;
Eigen::Vector3d direct1 = directs[surf1];
double dot1 = fabs(direct1.dot(direct2));
double dot2 = fabs(c2c.dot(direct1));
double dot3 = fabs(c2c.dot(direct2));
bool c2flag = (dot2<cos2 && dot3<cos2) || (c2cd < 0.1);
if(dot1>cos1 && c2flag)
{
groups[j].push_back(i);
match = true;
break;
}
}
}
if(!match)
{
groups.push_back(vector<int>());
groups.back().push_back(i);
}
}
int g1size = groups.size();
// for(int i=0; i<g1size; i++)
// {
// float ref = 255.0*rand()/(RAND_MAX + 1.0f);
// int g2size = groups[i].size();
// for(int j=0; j<g2size; j++)
// {
// pcl::PointCloud<PointType>::Ptr plptr = plptrs[groups[i][j]];
// for(PointType ap : plptr->points)
// {
// Eigen::Vector3d pvec(ap.x, ap.y, ap.z);
// int pos = ap.intensity;
// pvec = x_buf[pos].R * pvec + x_buf[pos].p;
// ap.x = pvec[0]; ap.y = pvec[1]; ap.z = pvec[2];
// ap.intensity = ref;
// pl_send.push_back(ap);
// }
// }
// }
for(int i=0; i<g1size; i++)
{
vector<int> &group = groups[i];
int g2size = group.size();
PointCluster *sig_vec = new PointCluster(*sig_vecs[group[0]]);
vector<PointCluster> *plvec_voxel = new vector<PointCluster>(*plvec_voxels[group[0]]);
pcl::PointCloud<PointType>::Ptr plptr = plptrs[group[0]];
for(int j=1; j<g2size; j++)
{
*sig_vec += *sig_vecs[group[j]];
const vector<PointCluster> &plvec_tem = *plvec_voxels[group[j]];
for(int k=0; k<win_size; k++)
if(plvec_tem[k].N != 0)
(*plvec_voxel)[k] += plvec_tem[k];
*plptr += *plptrs[group[j]];
}
int process_size = 0;
for(int j=0; j<win_size; j++)
if((*plvec_voxel)[j].N != 0)
process_size++;
if(process_size < 2)
{
delete sig_vec; delete plvec_voxel;
continue;
}
double coe = 0;
for(int j=0; j<win_size; j++)
coe += (*plvec_voxel)[j].N;
voxhess.sig_vecs.push_back(sig_vec);
voxhess.plvec_voxels.push_back(plvec_voxel);
voxhess.coeffs.push_back(coe);
voxhess.plptrs.push_back(plptr);
}
}
};
class OCTO_TREE_NODE
{
public:
int octo_state; // 0(unknown), 1(mid node), 2(plane)
int push_state;
int layer;
vector<PLV(3)> vec_orig, vec_tran;
vector<PointCluster> sig_orig, sig_tran;
PointCluster fix_point;
PLV(3) vec_fix;
OCTO_TREE_NODE *leaves[8];
float voxel_center[3];
float quater_length;
Eigen::Vector3d center, direct, value_vector; // temporal
double decision, ref;
OCTO_TREE_NODE()
{
octo_state = 0; push_state = 0;
vec_orig.resize(win_size); vec_tran.resize(win_size);
sig_orig.resize(win_size); sig_tran.resize(win_size);
for(int i=0; i<8; i++) leaves[i] = nullptr;
ref = 255.0*rand()/(RAND_MAX + 1.0f);
layer = 0;
}
bool judge_eigen(int win_count)
{
PointCluster covMat = fix_point;
for(int i=0; i<win_count; i++)
covMat += sig_tran[i];
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> saes(covMat.cov());
value_vector = saes.eigenvalues();
center = covMat.v / covMat.N;
direct = saes.eigenvectors().col(0);
decision = saes.eigenvalues()[0] / saes.eigenvalues()[1];
// decision = saes.eigenvalues()[0];
double eva0 = saes.eigenvalues()[0];
center += 3 * sqrt(eva0) * direct;
vector<PointCluster> covMats(8);
for(int i=0; i<win_count; i++)
{
for(Eigen::Vector3d &pvec: vec_tran[i])
{
int xyz[3] = {0, 0, 0};
for(int k=0; k<3; k++)
if(pvec[k] > center[k])
xyz[k] = 1;
int leafnum = 4*xyz[0] + 2*xyz[1] + xyz[2];
covMats[leafnum].push(pvec);
}
}
double ratios[2] = {1.0/(3.0*3.0), 2.0*2.0};
int num_all = 0, num_qua = 0;
for(int i=0; i<8; i++)
{
if(covMats[i].N < 10) continue;
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> saes(covMats[i].cov());
double child_eva0 = (saes.eigenvalues()[0]);
if(child_eva0 > ratios[0]*eva0 && child_eva0 < ratios[1]*eva0)
num_qua++;
num_all++;
}
double prop = 1.0 * num_qua / num_all;
return (decision < eigen_value_array[layer]);
// return (decision < eigen_value_array[layer] && prop > 0.5);
}
void cut_func(int ci)
{
PLV(3) &pvec_orig = vec_orig[ci];
PLV(3) &pvec_tran = vec_tran[ci];
uint a_size = pvec_tran.size();
for(uint j=0; j<a_size; j++)
{
int xyz[3] = {0, 0, 0};
for(uint k=0; k<3; k++)
if(pvec_tran[j][k] > voxel_center[k])
xyz[k] = 1;
int leafnum = 4*xyz[0] + 2*xyz[1] + xyz[2];
if(leaves[leafnum] == nullptr)
{
leaves[leafnum] = new OCTO_TREE_NODE();
leaves[leafnum]->voxel_center[0] = voxel_center[0] + (2*xyz[0]-1)*quater_length;
leaves[leafnum]->voxel_center[1] = voxel_center[1] + (2*xyz[1]-1)*quater_length;
leaves[leafnum]->voxel_center[2] = voxel_center[2] + (2*xyz[2]-1)*quater_length;
leaves[leafnum]->quater_length = quater_length / 2;
leaves[leafnum]->layer = layer + 1;
}
leaves[leafnum]->vec_orig[ci].push_back(pvec_orig[j]);
leaves[leafnum]->vec_tran[ci].push_back(pvec_tran[j]);
if(leaves[leafnum]->octo_state != 1)
{
leaves[leafnum]->sig_orig[ci].push(pvec_orig[j]);
leaves[leafnum]->sig_tran[ci].push(pvec_tran[j]);
}
}
PLV(3)().swap(pvec_orig); PLV(3)().swap(pvec_tran);
}
void recut(int win_count)
{
if(octo_state != 1)
{
int point_size = fix_point.N;
for(int i=0; i<win_count; i++)
point_size += sig_orig[i].N;
push_state = 0;
if(point_size <= min_ps)
return;
if(judge_eigen(win_count))
{
if(octo_state==0 && point_size>layer_size[layer])
octo_state = 2;
point_size -= fix_point.N;
if(point_size > min_ps)
push_state = 1;
return;
}
else if(layer == layer_limit)
{
octo_state = 2; return;
}
octo_state = 1;
vector<PointCluster>().swap(sig_orig);
vector<PointCluster>().swap(sig_tran);
for(int i=0; i<win_count; i++)
cut_func(i);
}
else
cut_func(win_count-1);
for(int i=0; i<8; i++)
if(leaves[i] != nullptr)
leaves[i]->recut(win_count);
}
void to_margi(int mg_size, vector<IMUST> &x_poses, int win_count)
{
if(octo_state != 1)
{
if(!x_poses.empty())
for(int i=0; i<win_count; i++)
{
sig_tran[i].transform(sig_orig[i], x_poses[i]);
plvec_trans(vec_orig[i], vec_tran[i], x_poses[i]);
}
if(fix_point.N<50 && push_state==1)
for(int i=0; i<mg_size; i++)
{
fix_point += sig_tran[i];
vec_fix.insert(vec_fix.end(), vec_tran[i].begin(), vec_tran[i].end());
}
for(int i=mg_size; i<win_count; i++)
{
sig_orig[i-mg_size] = sig_orig[i];
sig_tran[i-mg_size] = sig_tran[i];
vec_orig[i-mg_size].swap(vec_orig[i]);
vec_tran[i-mg_size].swap(vec_tran[i]);
}
for(int i=win_count-mg_size; i<win_count; i++)
{
sig_orig[i].clear(); sig_tran[i].clear();
vec_orig[i].clear(); vec_tran[i].clear();
}
}
else
for(int i=0; i<8; i++)
if(leaves[i] != nullptr)
leaves[i]->to_margi(mg_size, x_poses, win_count);
}
~OCTO_TREE_NODE()
{
for(int i=0; i<8; i++)
if(leaves[i] != nullptr)
delete leaves[i];
}
void tras_display(pcl::PointCloud<PointType> &pl_feat, int win_count)
{
if(octo_state != 1)
{
// if(push_state != 1)
// return;
PointType ap;
ap.intensity = ref;
int tsize = 0;
for(int i=0; i<win_count; i++)
tsize += vec_tran[i].size();
if(tsize < 100) return;
for(int i=0; i<win_count; i++)
for(Eigen::Vector3d pvec : vec_tran[i])
{
ap.x = pvec.x(); ap.y = pvec.y(); ap.z = pvec.z();
// ap.normal_x = sqrt(value_vector[1] / value_vector[0]);
// ap.normal_y = sqrt(value_vector[2] / value_vector[0]);
// ap.normal_z = sqrt(value_vector[0]);
ap.normal_x = voxel_center[0];
ap.normal_y = voxel_center[1];
ap.normal_z = voxel_center[2];
ap.curvature = quater_length * 4;
pl_feat.push_back(ap);
}
}
else
{
// if(layer != layer_limit)
// {
// PointType ap;
// ap.x = voxel_center[0];
// ap.y = voxel_center[1];
// ap.z = voxel_center[2];
// pl_cent.push_back(ap);
// }
for(int i=0; i<8; i++)
if(leaves[i] != nullptr)
leaves[i]->tras_display(pl_feat, win_count);
}
}
void tras_merge(VOXEL_MERGE &vlmg, int win_count)
{
if(octo_state != 1)
{
if(push_state == 1)
{
pcl::PointCloud<PointType>::Ptr plptr(new pcl::PointCloud<PointType>());
for(int i=0; i<win_count; i++)
{
PointType ap; ap.intensity = i;
for(Eigen::Vector3d &pvec : vec_orig[i])
// for(Eigen::Vector3d &pvec : vec_tran[i])
{
ap.x = pvec[0]; ap.y = pvec[1]; ap.z = pvec[2];
plptr->push_back(ap);
}
}
int psize = 0;
for(int i=0; i<win_count; i++)
psize += vec_orig[i].size();
if(psize > 100)
vlmg.push_voxel(&sig_orig, &fix_point, center, direct, value_vector, plptr);
}
}
else
{
for(int i=0; i<8; i++)
if(leaves[i] != nullptr)
leaves[i]->tras_merge(vlmg, win_count);
}
}
void tras_opt(VOX_HESS &vox_opt, int win_count)
{
if(octo_state != 1)
{
int points_size = 0;
for(int i=0; i<win_count; i++)
points_size += sig_orig[i].N;
if(points_size < min_ps)
return;
if(push_state == 1)
vox_opt.push_voxel(&sig_orig, &fix_point, decision, layer);
}
else
{
for(int i=0; i<8; i++)
if(leaves[i] != nullptr)
leaves[i]->tras_opt(vox_opt, win_count);
}
}
};
class OCTO_TREE_ROOT: public OCTO_TREE_NODE
{
public:
bool is2opt;
int life;
vector<int> each_num;
OCTO_TREE_ROOT()
{
is2opt = true;
life = life_span;
each_num.resize(win_size);
for(int i=0; i<win_size; i++) each_num[i] = 0;
}
void marginalize(int mg_size, vector<IMUST> &x_poses, int win_count)
{
to_margi(mg_size, x_poses, win_count);
int left_size = 0;
for(int i=mg_size; i<win_count; i++)
{
each_num[i-mg_size] = each_num[i];
left_size += each_num[i-mg_size];
}
if(left_size == 0) is2opt = false;
for(int i=win_count-mg_size; i<win_count; i++)
each_num[i] = 0;
}
};
bool iter_stop(Eigen::VectorXd &dx, double thre = 1e-7, int win_size = 0)
{
// int win_size = dx.rows() / 6;
if(win_size == 0)
win_size = dx.rows() / 6;
double angErr = 0, tranErr = 0;
for(int i=0; i<win_size; i++)
{
angErr += dx.block<3, 1>(6*i, 0).norm();
tranErr += dx.block<3, 1>(6*i+3, 0).norm();
}
angErr /= win_size; tranErr /= win_size;
return (angErr < thre) && (tranErr < thre);
}
class BALM2
{
public:
BALM2(){}
double divide_thread(vector<IMUST> &x_stats, VOX_HESS &voxhess, vector<IMUST> &x_ab, Eigen::MatrixXd &Hess, Eigen::VectorXd &JacT)
{
int thd_num = 4;
double residual = 0;
Hess.setZero(); JacT.setZero();
PLM(-1) hessians(thd_num);
PLV(-1) jacobins(thd_num);
for(int i=0; i<thd_num; i++)
{
hessians[i].resize(6*win_size, 6*win_size);
jacobins[i].resize(6*win_size);