preprocess.cpp

#include "preprocess.h"
#include <sensor_msgs/msg/detail/point_cloud2__struct.hpp>

#define RETURN0     0x00
#define RETURN0AND1 0x10

const bool time_list_cut_frame(PointType &x, PointType &y) {
    return (x.curvature < y.curvature);
}

Preprocess::Preprocess()
  :lidar_type(AVIA), blind(0.01), point_filter_num(1)
{
  inf_bound = 10;
  N_SCANS   = 6;
  SCAN_RATE = 10;
  group_size = 8;
  disA = 0.01;
  disA = 0.1; // B?
  p2l_ratio = 225;
  limit_maxmid =6.25;
  limit_midmin =6.25;
  limit_maxmin = 3.24;
  jump_up_limit = 170.0;
  jump_down_limit = 8.0;
  cos160 = 160.0;
  edgea = 2;
  edgeb = 0.1;
  smallp_intersect = 172.5;
  smallp_ratio = 1.2;
  given_offset_time = false;

  jump_up_limit = cos(jump_up_limit/180*M_PI);
  jump_down_limit = cos(jump_down_limit/180*M_PI);
  cos160 = cos(cos160/180*M_PI);
  smallp_intersect = cos(smallp_intersect/180*M_PI);
}

Preprocess::~Preprocess() {}

void Preprocess::set(bool feat_en, int lid_type, double bld, int pfilt_num)
{
  lidar_type = lid_type;
  blind = bld;
  point_filter_num = pfilt_num;
}

void Preprocess::process(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out)
{  
  avia_handler(msg);
  *pcl_out = pl_surf;
}

void Preprocess::process(const sensor_msgs::msg::PointCloud2::SharedPtr &msg, PointCloudXYZI::Ptr &pcl_out)
{
  switch (time_unit)
  {
    case SEC:
      time_unit_scale = 1.e3f;
      break;
    case MS:
      time_unit_scale = 1.f;
      break;
    case US:
      time_unit_scale = 1.e-3f;
      break;
    case NS:
      time_unit_scale = 1.e-6f;
      break;
    default:
      time_unit_scale = 1.f;
      break;
  }

  switch (lidar_type)
  {
  case OUST64:
    oust64_handler(msg);
    break;

  case VELO16:
    velodyne_handler(msg);
    break;
  
  case HESAIxt32:
    hesai_handler(msg);
    break;
  
  default:
    printf("Error LiDAR Type");
    break;
  }
  *pcl_out = pl_surf;
}


void Preprocess::process_cut_frame_livox(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg,
                                         deque<PointCloudXYZI::Ptr> &pcl_out, deque<double> &time_lidar,
                                         const int required_frame_num, int scan_count) {
    int plsize = msg->point_num;
    pl_surf.clear();
    pl_surf.reserve(plsize);
    pl_full.clear();
    pl_full.resize(plsize);
    int valid_point_num = 0;

    for (uint i = 1; i < plsize; i++) {
        if ((msg->points[i].line < N_SCANS) &&
        ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00))
        {
            valid_point_num++;
            if (valid_point_num % point_filter_num == 0) {
                pl_full[i].x = msg->points[i].x;
                pl_full[i].y = msg->points[i].y;
                pl_full[i].z = msg->points[i].z;
                pl_full[i].intensity = msg->points[i].reflectivity;
                //use curvature as time of each laser points，unit: ms
                pl_full[i].curvature = msg->points[i].offset_time / float(1000000);

                double dist = pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z;
                if (dist < blind * blind) continue;

                if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7)
                    || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7)
                    || (abs(pl_full[i].z - pl_full[i - 1].z) > 1e-7)) {
                    pl_surf.push_back(pl_full[i]);
                }
            }
        }
    }
    sort(pl_surf.points.begin(), pl_surf.points.end(), time_list_cut_frame);
    //end time of last frame，单位ms
    double last_frame_end_time = rclcpp::Time(msg->header.stamp).seconds() * 1000;
    uint valid_num = 0;
    uint cut_num = 0;
    uint valid_pcl_size = pl_surf.points.size();

    int required_cut_num = required_frame_num;
    if (scan_count < 5)
        required_cut_num = 1;

    PointCloudXYZI pcl_cut;
    for (uint i = 1; i < valid_pcl_size; i++) {
        valid_num++;
        //Compute new opffset time of each point：ms
        pl_surf[i].curvature += rclcpp::Time(msg->header.stamp).seconds() * 1000 - last_frame_end_time;
        pcl_cut.push_back(pl_surf[i]);
        if (valid_num == (int((cut_num + 1) * valid_pcl_size / required_cut_num) - 1)) {
            cut_num++;
            time_lidar.push_back(last_frame_end_time);
            PointCloudXYZI::Ptr pcl_temp(new PointCloudXYZI()); //Initialize shared_ptr
            *pcl_temp = pcl_cut;
            pcl_out.push_back(pcl_temp);
            //Update frame head
            last_frame_end_time += pl_surf[i].curvature;
            pcl_cut.clear();
            pcl_cut.reserve(valid_pcl_size * 2 / required_frame_num);
        }
    }
}
#define MAX_LINE_NUM 128
void
Preprocess::process_cut_frame_pcl2(const sensor_msgs::msg::PointCloud2::SharedPtr &msg, deque<PointCloudXYZI::Ptr> &pcl_out,
                                   deque<double> &time_lidar, const int required_frame_num, int scan_count) {
    pl_surf.clear();
    pl_corn.clear();
    pl_full.clear();
    if (lidar_type == VELO16) {
        pcl::PointCloud<velodyne_ros::Point> pl_orig;
        pcl::fromROSMsg(*msg, pl_orig);
        int plsize = pl_orig.points.size();
        pl_surf.reserve(plsize);

        bool is_first[MAX_LINE_NUM];
        double yaw_fp[MAX_LINE_NUM] = {0};     // yaw of first scan point
        double omega_l = 3.61;       // scan angular velocity (deg/ms)
        float yaw_last[MAX_LINE_NUM] = {0.0};  // yaw of last scan point
        float time_last[MAX_LINE_NUM] = {0.0}; // last offset time

        if (pl_orig.points[plsize - 1].time > 0) {
            given_offset_time = true;
        } else {
            cout << "Compute offset time using constant rotation model." << endl;
            given_offset_time = false;
            memset(is_first, true, sizeof(is_first));
        }

        for (int i = 0; i < plsize; i++) {
            PointType added_pt;
            added_pt.normal_x = 0;
            added_pt.normal_y = 0;
            added_pt.normal_z = 0;
            added_pt.x = pl_orig.points[i].x;
            added_pt.y = pl_orig.points[i].y;
            added_pt.z = pl_orig.points[i].z;
            added_pt.intensity = pl_orig.points[i].intensity;
            added_pt.curvature = pl_orig.points[i].time * 1000.0;  //ms

            double dist = added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z;
            if ( dist < blind * blind || isnan(added_pt.x) || isnan(added_pt.y) || isnan(added_pt.z))
                continue;

            if (!given_offset_time) {
                int layer = pl_orig.points[i].ring;
                double yaw_angle = atan2(added_pt.y, added_pt.x) * 57.2957;

                if (is_first[layer]) {
                    yaw_fp[layer] = yaw_angle;
                    is_first[layer] = false;
                    added_pt.curvature = 0.0;
                    yaw_last[layer] = yaw_angle;
                    time_last[layer] = added_pt.curvature;
                    continue;
                }
                // compute offset time
                if (yaw_angle <= yaw_fp[layer]) {
                    added_pt.curvature = (yaw_fp[layer] - yaw_angle) / omega_l;
                } else {
                    added_pt.curvature = (yaw_fp[layer] - yaw_angle + 360.0) / omega_l;
                }
                if (added_pt.curvature < time_last[layer]) added_pt.curvature += 360.0 / omega_l;

                yaw_last[layer] = yaw_angle;
                time_last[layer] = added_pt.curvature;
            }


            if (i % point_filter_num == 0 && pl_orig.points[i].ring < N_SCANS) {
                pl_surf.points.push_back(added_pt);
            }
        }
    } else if (lidar_type == OUST64) {
        pcl::PointCloud<ouster_ros::Point> pl_orig;
        pcl::fromROSMsg(*msg, pl_orig);
        int plsize = pl_orig.points.size();
        pl_surf.reserve(plsize);
        for (int i = 0; i < plsize; i++) {
            PointType added_pt;
            added_pt.normal_x = 0;
            added_pt.normal_y = 0;
            added_pt.normal_z = 0;
            added_pt.x = pl_orig.points[i].x;
            added_pt.y = pl_orig.points[i].y;
            added_pt.z = pl_orig.points[i].z;
            added_pt.intensity = pl_orig.points[i].intensity;
            added_pt.curvature = pl_orig.points[i].t / 1e6;  //ns to ms

            double dist = added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z;
            if ( dist < blind * blind || isnan(added_pt.x) || isnan(added_pt.y) || isnan(added_pt.z))
                continue;

            if (i % point_filter_num == 0 && pl_orig.points[i].ring < N_SCANS) {
                pl_surf.points.push_back(added_pt);
            }
        }
    } else if(lidar_type == HESAIxt32) {
        pcl::PointCloud<hesai_ros::Point> pl_orig;
        pcl::fromROSMsg(*msg, pl_orig);
        int plsize = pl_orig.points.size();
        pl_surf.reserve(plsize);
        for (int i = 0; i < plsize; i++) {
            PointType added_pt;
            added_pt.normal_x = 0;
            added_pt.normal_y = 0;
            added_pt.normal_z = 0;
            added_pt.x = pl_orig.points[i].x;
            added_pt.y = pl_orig.points[i].y;
            added_pt.z = pl_orig.points[i].z;
            added_pt.intensity = pl_orig.points[i].intensity;
            added_pt.curvature = (pl_orig.points[i].timestamp - rclcpp::Time(msg->header.stamp).seconds()) * 1000;  //s to ms

            double dist = added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z;
            if ( dist < blind * blind || isnan(added_pt.x) || isnan(added_pt.y) || isnan(added_pt.z))
                continue;

            if (i % point_filter_num == 0 && pl_orig.points[i].ring < N_SCANS) {
                pl_surf.points.push_back(added_pt);
            }
        }
    }else{
        cout << "Wrong LiDAR Type!!!" << endl;
        return;
    }

    sort(pl_surf.points.begin(), pl_surf.points.end(), time_list_cut_frame);

    //ms
    double last_frame_end_time = rclcpp::Time(msg->header.stamp).seconds() * 1000;
    uint valid_num = 0;
    uint cut_num = 0;
    uint valid_pcl_size = pl_surf.points.size();

    int required_cut_num = required_frame_num;

    if (scan_count < 20)
        required_cut_num = 1;


    PointCloudXYZI pcl_cut;
    for (uint i = 1; i < valid_pcl_size; i++) {
        valid_num++;
        pl_surf[i].curvature += rclcpp::Time(msg->header.stamp).seconds() * 1000 - last_frame_end_time;
        pcl_cut.push_back(pl_surf[i]);

        if (valid_num == (int((cut_num + 1) * valid_pcl_size / required_cut_num) - 1)) {
            cut_num++;
            time_lidar.push_back(last_frame_end_time);
            PointCloudXYZI::Ptr pcl_temp(new PointCloudXYZI());
            *pcl_temp = pcl_cut;
            pcl_out.push_back(pcl_temp);
            last_frame_end_time += pl_surf[i].curvature;
            pcl_cut.clear();
            pcl_cut.reserve(valid_pcl_size * 2 / required_frame_num);
        }
    }
}

void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr &msg)
{
  pl_surf.clear();
  pl_corn.clear();
  pl_full.clear();
  double t1 = omp_get_wtime();
  int plsize = msg->point_num;

  pl_corn.reserve(plsize);
  pl_surf.reserve(plsize);
  pl_full.resize(plsize);

  for(int i=0; i<N_SCANS; i++)
  {
    pl_buff[i].clear();
    pl_buff[i].reserve(plsize);
  }
  uint valid_num = 0;
  
  
  for(uint i=1; i<plsize; i++)
  {
    if((msg->points[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00))
    {
      valid_num ++;
      if (valid_num % point_filter_num == 0)
      {
        pl_full[i].x = msg->points[i].x;
        pl_full[i].y = msg->points[i].y;
        pl_full[i].z = msg->points[i].z;
        pl_full[i].intensity = msg->points[i].reflectivity;
        pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points, curvature unit: ms

        if(((abs(pl_full[i].x - pl_full[i-1].x) > 1e-7) 
            || (abs(pl_full[i].y - pl_full[i-1].y) > 1e-7)
            || (abs(pl_full[i].z - pl_full[i-1].z) > 1e-7))
            && (pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z > (blind * blind)))
        {
          pl_surf.push_back(pl_full[i]);
        }
      }
    }
  }

}

void Preprocess::oust64_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg)
{
  pl_surf.clear();
  pl_corn.clear();
  pl_full.clear();
  pcl::PointCloud<ouster_ros::Point> pl_orig;
  pcl::fromROSMsg(*msg, pl_orig);
  int plsize = pl_orig.size();
  pl_corn.reserve(plsize);
  pl_surf.reserve(plsize);
  
  
  double time_stamp = rclcpp::Time(msg->header.stamp).seconds();
  // cout << "===================================" << endl;
  // printf("Pt size = %d, N_SCANS = %d\r\n", plsize, N_SCANS);
  for (int i = 0; i < pl_orig.points.size(); i++)
  {
    if (i % point_filter_num != 0) continue;

    double range = pl_orig.points[i].x * pl_orig.points[i].x + pl_orig.points[i].y * pl_orig.points[i].y + pl_orig.points[i].z * pl_orig.points[i].z;
    
    if (range < (blind * blind)) continue;
    
    Eigen::Vector3d pt_vec;
    PointType added_pt;
    added_pt.x = pl_orig.points[i].x;
    added_pt.y = pl_orig.points[i].y;
    added_pt.z = pl_orig.points[i].z;
    added_pt.intensity = pl_orig.points[i].intensity;
    added_pt.normal_x = 0;
    added_pt.normal_y = 0;
    added_pt.normal_z = 0;
    added_pt.curvature = pl_orig.points[i].t * time_unit_scale; // curvature unit: ms

    pl_surf.points.push_back(added_pt);
  }
  
  // pub_func(pl_surf, pub_full, msg->header.stamp);
  // pub_func(pl_surf, pub_corn, msg->header.stamp);
}

void Preprocess::velodyne_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg)
{
    pl_surf.clear();
    pl_corn.clear();
    pl_full.clear();

    pcl::PointCloud<velodyne_ros::Point> pl_orig;
    pcl::fromROSMsg(*msg, pl_orig);
    int plsize = pl_orig.points.size();
    if (plsize == 0) return;
    pl_surf.reserve(plsize);
    
    /*** These variables only works when no point timestamps given ***/
    double omega_l = 0.361 * SCAN_RATE;       // scan angular velocity
    std::vector<bool> is_first(N_SCANS,true);
    std::vector<double> yaw_fp(N_SCANS, 0.0);      // yaw of first scan point
    std::vector<float> yaw_last(N_SCANS, 0.0);   // yaw of last scan point
    std::vector<float> time_last(N_SCANS, 0.0);  // last offset time
    /*****************************************************************/

    if (pl_orig.points[plsize - 1].time > 0)
    {
      given_offset_time = true;
    }
    else
    {
      given_offset_time = false;
      double yaw_first = atan2(pl_orig.points[0].y, pl_orig.points[0].x) * 57.29578;
      double yaw_end  = yaw_first;
      int layer_first = pl_orig.points[0].ring;
      for (uint i = plsize - 1; i > 0; i--)
      {
        if (pl_orig.points[i].ring == layer_first)
        {
          yaw_end = atan2(pl_orig.points[i].y, pl_orig.points[i].x) * 57.29578;
          break;
        }
      }
    }

    for (int i = 0; i < plsize; i++)
    {
      PointType added_pt;
      // cout<<"!!!!!!"<<i<<" "<<plsize<<endl;
      
      added_pt.normal_x = 0;
      added_pt.normal_y = 0;
      added_pt.normal_z = 0;
      added_pt.x = pl_orig.points[i].x;
      added_pt.y = pl_orig.points[i].y;
      added_pt.z = pl_orig.points[i].z;
      added_pt.intensity = pl_orig.points[i].intensity;
      added_pt.curvature = pl_orig.points[i].time * time_unit_scale;  // curvature unit: ms // cout<<added_pt.curvature<<endl;
      if (!given_offset_time)
      {
        int layer = pl_orig.points[i].ring;
        double yaw_angle = atan2(added_pt.y, added_pt.x) * 57.2957;

        if (is_first[layer])
        {
          // printf("layer: %d; is first: %d", layer, is_first[layer]);
            yaw_fp[layer]=yaw_angle;
            is_first[layer]=false;
            added_pt.curvature = 0.0;
            yaw_last[layer]=yaw_angle;
            time_last[layer]=added_pt.curvature;
            continue;
        }

        // compute offset time
        if (yaw_angle <= yaw_fp[layer])
        {
          added_pt.curvature = (yaw_fp[layer]-yaw_angle) / omega_l;
        }
        else
        {
          added_pt.curvature = (yaw_fp[layer]-yaw_angle+360.0) / omega_l;
        }

        if (added_pt.curvature < time_last[layer])  added_pt.curvature+=360.0/omega_l;

        yaw_last[layer] = yaw_angle;
        time_last[layer]=added_pt.curvature;
      }

      if (i % point_filter_num == 0)
      {
        if(added_pt.x*added_pt.x+added_pt.y*added_pt.y+added_pt.z*added_pt.z > (blind * blind))
        {
          pl_surf.points.push_back(added_pt);
        }
      }
    }
    
}

void Preprocess::hesai_handler(const sensor_msgs::msg::PointCloud2::SharedPtr &msg)
{
    pl_surf.clear();
    pl_corn.clear();
    pl_full.clear();

    pcl::PointCloud<hesai_ros::Point> pl_orig;
    pcl::fromROSMsg(*msg, pl_orig);
    int plsize = pl_orig.points.size();
    if (plsize == 0) return;
    pl_surf.reserve(plsize);
    
    /*** These variables only works when no point timestamps given ***/
    double omega_l = 0.361 * SCAN_RATE;       // scan angular velocity
    std::vector<bool> is_first(N_SCANS,true);
    std::vector<double> yaw_fp(N_SCANS, 0.0);      // yaw of first scan point
    std::vector<float> yaw_last(N_SCANS, 0.0);   // yaw of last scan point
    std::vector<float> time_last(N_SCANS, 0.0);  // last offset time
    /*****************************************************************/

    if (pl_orig.points[plsize - 1].timestamp > 0)
    {
      given_offset_time = true;
    }
    else
    {
      given_offset_time = false;
      double yaw_first = atan2(pl_orig.points[0].y, pl_orig.points[0].x) * 57.29578;
      double yaw_end  = yaw_first;
      int layer_first = pl_orig.points[0].ring;
      for (uint i = plsize - 1; i > 0; i--)
      {
        if (pl_orig.points[i].ring == layer_first)
        {
          yaw_end = atan2(pl_orig.points[i].y, pl_orig.points[i].x) * 57.29578;
          break;
        }
      }
    }

    double time_head = pl_orig.points[0].timestamp;
    
    for (int i = 0; i < plsize; i++)
    {
      PointType added_pt;
      // cout<<"!!!!!!"<<i<<" "<<plsize<<endl;
      
      added_pt.normal_x = 0;
      added_pt.normal_y = 0;
      added_pt.normal_z = 0;
      added_pt.x = pl_orig.points[i].x;
      added_pt.y = pl_orig.points[i].y;
      added_pt.z = pl_orig.points[i].z;
      added_pt.intensity = pl_orig.points[i].intensity;
      added_pt.curvature = (pl_orig.points[i].timestamp - time_head) * time_unit_scale;  // curvature unit: ms // cout<<added_pt.curvature<<endl;
      if (!given_offset_time)
      {
        int layer = pl_orig.points[i].ring;
        double yaw_angle = atan2(added_pt.y, added_pt.x) * 57.2957;

        if (is_first[layer])
        {
          // printf("layer: %d; is first: %d", layer, is_first[layer]);
            yaw_fp[layer]=yaw_angle;
            is_first[layer]=false;
            added_pt.curvature = 0.0;
            yaw_last[layer]=yaw_angle;
            time_last[layer]=added_pt.curvature;
            continue;
        }

        // compute offset time
        if (yaw_angle <= yaw_fp[layer])
        {
          added_pt.curvature = (yaw_fp[layer]-yaw_angle) / omega_l;
        }
        else
        {
          added_pt.curvature = (yaw_fp[layer]-yaw_angle+360.0) / omega_l;
        }

        if (added_pt.curvature < time_last[layer])  added_pt.curvature+=360.0/omega_l;

        yaw_last[layer] = yaw_angle;
        time_last[layer]=added_pt.curvature;
      }

      if (i % point_filter_num == 0)
      {
        if(added_pt.x*added_pt.x+added_pt.y*added_pt.y+added_pt.z*added_pt.z > (blind * blind))
        {
          pl_surf.points.push_back(added_pt);
        }
      }
    }
    
}

void Preprocess::give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &types)
{
  int plsize = pl.size();
  int plsize2;
  if(plsize == 0)
  {
    printf("something wrong\n");
    return;
  }
  uint head = 0;

  while(types[head].range < blind)
  {
    head++;
  }

  // Surf
  plsize2 = (plsize > group_size) ? (plsize - group_size) : 0;

  Eigen::Vector3d curr_direct(Eigen::Vector3d::Zero());
  Eigen::Vector3d last_direct(Eigen::Vector3d::Zero());

  uint i_nex = 0, i2;
  uint last_i = 0; uint last_i_nex = 0;
  int last_state = 0;
  int plane_type;

  for(uint i=head; i<plsize2; i++)
  {
    if(types[i].range < blind)
    {
      continue;
    }

    i2 = i;

    plane_type = plane_judge(pl, types, i, i_nex, curr_direct);
    
    if(plane_type == 1)
    {
      for(uint j=i; j<=i_nex; j++)
      { 
        if(j!=i && j!=i_nex)
        {
          types[j].ftype = Real_Plane;
        }
        else
        {
          types[j].ftype = Poss_Plane;
        }
      }
      
      // if(last_state==1 && fabs(last_direct.sum())>0.5)
      if(last_state==1 && last_direct.norm()>0.1)
      {
        double mod = last_direct.transpose() * curr_direct;
        if(mod>-0.707 && mod<0.707)
        {
          types[i].ftype = Edge_Plane;
        }
        else
        {
          types[i].ftype = Real_Plane;
        }
      }
      
      i = i_nex - 1;
      last_state = 1;
    }
    else // if(plane_type == 2)
    {
      i = i_nex;
      last_state = 0;
    }

    last_i = i2;
    last_i_nex = i_nex;
    last_direct = curr_direct;
  }

  plsize2 = plsize > 3 ? plsize - 3 : 0;
  for(uint i=head+3; i<plsize2; i++)
  {
    if(types[i].range<blind || types[i].ftype>=Real_Plane)
    {
      continue;
    }

    if(types[i-1].dista<1e-16 || types[i].dista<1e-16)
    {
      continue;
    }

    Eigen::Vector3d vec_a(pl[i].x, pl[i].y, pl[i].z);
    Eigen::Vector3d vecs[2];

    for(int j=0; j<2; j++)
    {
      int m = -1;
      if(j == 1)
      {
        m = 1;
      }

      if(types[i+m].range < blind)
      {
        if(types[i].range > inf_bound)
        {
          types[i].edj[j] = Nr_inf;
        }
        else
        {
          types[i].edj[j] = Nr_blind;
        }
        continue;
      }

      vecs[j] = Eigen::Vector3d(pl[i+m].x, pl[i+m].y, pl[i+m].z);
      vecs[j] = vecs[j] - vec_a;
      
      types[i].angle[j] = vec_a.dot(vecs[j]) / vec_a.norm() / vecs[j].norm();
      if(types[i].angle[j] < jump_up_limit)
      {
        types[i].edj[j] = Nr_180;
      }
      else if(types[i].angle[j] > jump_down_limit)
      {
        types[i].edj[j] = Nr_zero;
      }
    }

    types[i].intersect = vecs[Prev].dot(vecs[Next]) / vecs[Prev].norm() / vecs[Next].norm();
    if(types[i].edj[Prev]==Nr_nor && types[i].edj[Next]==Nr_zero && types[i].dista>0.0225 && types[i].dista>4*types[i-1].dista)
    {
      if(types[i].intersect > cos160)
      {
        if(edge_jump_judge(pl, types, i, Prev))
        {
          types[i].ftype = Edge_Jump;
        }
      }
    }
    else if(types[i].edj[Prev]==Nr_zero && types[i].edj[Next]== Nr_nor && types[i-1].dista>0.0225 && types[i-1].dista>4*types[i].dista)
    {
      if(types[i].intersect > cos160)
      {
        if(edge_jump_judge(pl, types, i, Next))
        {
          types[i].ftype = Edge_Jump;
        }
      }
    }
    else if(types[i].edj[Prev]==Nr_nor && types[i].edj[Next]==Nr_inf)
    {
      if(edge_jump_judge(pl, types, i, Prev))
      {
        types[i].ftype = Edge_Jump;
      }
    }
    else if(types[i].edj[Prev]==Nr_inf && types[i].edj[Next]==Nr_nor)
    {
      if(edge_jump_judge(pl, types, i, Next))
      {
        types[i].ftype = Edge_Jump;
      }
     
    }
    else if(types[i].edj[Prev]>Nr_nor && types[i].edj[Next]>Nr_nor)
    {
      if(types[i].ftype == Nor)
      {
        types[i].ftype = Wire;
      }
    }
  }

  plsize2 = plsize-1;
  double ratio;
  for(uint i=head+1; i<plsize2; i++)
  {
    if(types[i].range<blind || types[i-1].range<blind || types[i+1].range<blind)
    {
      continue;
    }
    
    if(types[i-1].dista<1e-8 || types[i].dista<1e-8)
    {
      continue;
    }

    if(types[i].ftype == Nor)
    {
      if(types[i-1].dista > types[i].dista)
      {
        ratio = types[i-1].dista / types[i].dista;
      }
      else
      {
        ratio = types[i].dista / types[i-1].dista;
      }

      if(types[i].intersect<smallp_intersect && ratio < smallp_ratio)
      {
        if(types[i-1].ftype == Nor)
        {
          types[i-1].ftype = Real_Plane;
        }
        if(types[i+1].ftype == Nor)
        {
          types[i+1].ftype = Real_Plane;
        }
        types[i].ftype = Real_Plane;
      }
    }
  }

  int last_surface = -1;
  for(uint j=head; j<plsize; j++)
  {
    if(types[j].ftype==Poss_Plane || types[j].ftype==Real_Plane)
    {
      if(last_surface == -1)
      {
        last_surface = j;
      }
    
      if(j == uint(last_surface+point_filter_num-1))
      {
        PointType ap;
        ap.x = pl[j].x;
        ap.y = pl[j].y;
        ap.z = pl[j].z;
        ap.intensity = pl[j].intensity;
        ap.curvature = pl[j].curvature;
        pl_surf.push_back(ap);

        last_surface = -1;
      }
    }
    else
    {
      if(types[j].ftype==Edge_Jump || types[j].ftype==Edge_Plane)
      {
        pl_corn.push_back(pl[j]);
      }
      if(last_surface != -1)
      {
        PointType ap;
        for(uint k=last_surface; k<j; k++)
        {
          ap.x += pl[k].x;
          ap.y += pl[k].y;
          ap.z += pl[k].z;
          ap.intensity += pl[k].intensity;
          ap.curvature += pl[k].curvature;
        }
        ap.x /= (j-last_surface);
        ap.y /= (j-last_surface);
        ap.z /= (j-last_surface);
        ap.intensity /= (j-last_surface);
        ap.curvature /= (j-last_surface);
        pl_surf.push_back(ap);
      }
      last_surface = -1;
    }
  }
}

void Preprocess::pub_func(PointCloudXYZI &pl, const rclcpp::Time &ct)
{
  pl.height = 1; pl.width = pl.size();
  sensor_msgs::msg::PointCloud2 output;
  pcl::toROSMsg(pl, output);
  output.header.frame_id = "livox";
  output.header.stamp = ct;
}

int Preprocess::plane_judge(const PointCloudXYZI &pl, vector<orgtype> &types, uint i_cur, uint &i_nex, Eigen::Vector3d &curr_direct)
{
  double group_dis = disA*types[i_cur].range + disB;
  group_dis = group_dis * group_dis;
  // i_nex = i_cur;

  double two_dis;
  vector<double> disarr;
  disarr.reserve(20);

  for(i_nex=i_cur; i_nex<i_cur+group_size; i_nex++)
  {
    if(types[i_nex].range < blind)
    {
      curr_direct.setZero();
      return 2;
    }
    disarr.push_back(types[i_nex].dista);
  }
  
  for(;;)
  {
    if((i_cur >= pl.size()) || (i_nex >= pl.size())) break;

    if(types[i_nex].range < blind)
    {
      curr_direct.setZero();
      return 2;
    }
    vx = pl[i_nex].x - pl[i_cur].x;
    vy = pl[i_nex].y - pl[i_cur].y;
    vz = pl[i_nex].z - pl[i_cur].z;
    two_dis = vx*vx + vy*vy + vz*vz;
    if(two_dis >= group_dis)
    {
      break;
    }
    disarr.push_back(types[i_nex].dista);
    i_nex++;
  }

  double leng_wid = 0;
  double v1[3], v2[3];
  for(uint j=i_cur+1; j<i_nex; j++)
  {
    if((j >= pl.size()) || (i_cur >= pl.size())) break;
    v1[0] = pl[j].x - pl[i_cur].x;
    v1[1] = pl[j].y - pl[i_cur].y;
    v1[2] = pl[j].z - pl[i_cur].z;

    v2[0] = v1[1]*vz - vy*v1[2];
    v2[1] = v1[2]*vx - v1[0]*vz;
    v2[2] = v1[0]*vy - vx*v1[1];

    double lw = v2[0]*v2[0] + v2[1]*v2[1] + v2[2]*v2[2];
    if(lw > leng_wid)
    {
      leng_wid = lw;
    }
  }


  if((two_dis*two_dis/leng_wid) < p2l_ratio)
  {
    curr_direct.setZero();
    return 0;
  }

  uint disarrsize = disarr.size();
  for(uint j=0; j<disarrsize-1; j++)
  {
    for(uint k=j+1; k<disarrsize; k++)
    {
      if(disarr[j] < disarr[k])
      {
        leng_wid = disarr[j];
        disarr[j] = disarr[k];
        disarr[k] = leng_wid;
      }
    }
  }

  if(disarr[disarr.size()-2] < 1e-16)
  {
    curr_direct.setZero();
    return 0;
  }

  if(lidar_type==AVIA)
  {
    double dismax_mid = disarr[0]/disarr[disarrsize/2];
    double dismid_min = disarr[disarrsize/2]/disarr[disarrsize-2];

    if(dismax_mid>=limit_maxmid || dismid_min>=limit_midmin)
    {
      curr_direct.setZero();
      return 0;
    }
  }
  else
  {
    double dismax_min = disarr[0] / disarr[disarrsize-2];
    if(dismax_min >= limit_maxmin)
    {
      curr_direct.setZero();
      return 0;
    }
  }
  
  curr_direct << vx, vy, vz;
  curr_direct.normalize();
  return 1;
}

bool Preprocess::edge_jump_judge(const PointCloudXYZI &pl, vector<orgtype> &types, uint i, Surround nor_dir)
{
  if(nor_dir == 0)
  {
    if(types[i-1].range<blind || types[i-2].range<blind)
    {
      return false;
    }
  }
  else if(nor_dir == 1)
  {
    if(types[i+1].range<blind || types[i+2].range<blind)
    {
      return false;
    }
  }
  double d1 = types[i+nor_dir-1].dista;
  double d2 = types[i+3*nor_dir-2].dista;
  double d;

  if(d1<d2)
  {
    d = d1;
    d1 = d2;
    d2 = d;
  }

  d1 = sqrt(d1);
  d2 = sqrt(d2);

 
  if(d1>edgea*d2 || (d1-d2)>edgeb)
  {
    return false;
  }
  
  return true;
}