init

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8)
+
+project(imu_pose)
+
+set(CMAKE_BUILD_TYPE "Release")
+#set(CMAKE_BUILD_TYPE "Debug")
+
+option(ENABLE_FAST_GICP "Use fast gicp lib" OFF)
+option(ENABLE_ESKF "Use eskf" ON)
+option(ENABLE_ROS "Use ros lib" ON)
+option(ONE_MESH "Use stream of ONE big mesh" ON)
+
+message("----------------------")
+if (ENABLE_FAST_GICP)
+    message("Use fast gicp lib: ON")
+    add_definitions(-DENABLE_FAST_GICP)
+else()
+    message("Use fast gicp lib: OFF")
+endif()
+
+if (ENABLE_ESKF)
+    message("Use eskf: ON")
+    add_definitions(-DENABLE_ESKF)
+else()
+    message("Use eskf: OFF")
+endif()
+
+if (ENABLE_ROS)
+    message("Use ros lib: ON")
+    add_definitions(-DENABLE_ROS)
+else()
+    message("Use ros lib: OFF")
+endif()
+
+if (ONE_MESH)
+    message("Use stream of ONE big mesh: ON")
+    add_definitions(-DONE_MESH)
+else()
+    message("Use stream of ONE big mesh: OFF")
+endif()
+message("----------------------")
+
+option(TEST_ESKF "test eskf" OFF)
+if (TEST_ESKF)
+    add_definitions(-DTEST_ESKF)
+endif()
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+find_package(Glog REQUIRED)
+find_package(GFlags REQUIRED)
+
+set(HOME_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+
+#有依赖的在前 被依赖的在后
+add_subdirectory(apps)
+add_subdirectory(libs)
+

README.md

+## How to use
+传感器数据回调函数：
+imu:imu_subscriber.cpp:void IMUSubscriber::Callback(const ImuT::Ptr &msg)
+wheel:wheel_subscriber.cpp:void WheelSubscriber::Callback(const OdomT::Ptr &msg)
+gnss:gnss_subscriber.cpp:void GNSSSubscriber::Callback(const NavSatFixT::Ptr &msg)

apps/CMakeLists.txt

+set(CMAKE_CXX_STANDARD 14)
+
+if(NOT PCL_FOUND)
+    find_package(PCL REQUIRED)
+endif(NOT PCL_FOUND)
+include_directories(${PROJECT_SOURCE_DIR}/libs)
+
+
+add_executable(imu_pose imu_pose.cpp)
+
+target_include_directories(imu_pose PUBLIC
+    ${BOOST_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    input
+    output
+    system
+    )
+
+target_link_libraries(imu_pose PUBLIC
+    ${Boost_LIBRARIES}
+    ${PCL_LIBRARIES}
+    ${GLOG_LIBRARIES}
+    ${GFLAGS_LIBRARIES}
+    input
+    output
+    system
+    )

apps/imu_pose.cpp

+#include <iostream>
+#include "signal.h"
+#include <gflags/gflags.h>
+
+#include <glog/logging.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/common/transforms.h>
+
+#include "system/syscontroller.h"
+#include "input/sensor_subscriber.h"
+
+#include "input/ros_bridge/imu_subscriber.h"
+#include "input/ros_bridge/wheel_subscriber.h"
+#include "output/ros_publisher.h"
+
+
+DEFINE_string(base_dir, "", "base_dir");
+
+using namespace std;
+using namespace juefx;
+
+bool requestToEnd = false;
+SensorSubscriber::Ptr imuSubscriber;
+SensorSubscriber::Ptr gnssSubscriber;
+SensorSubscriber::Ptr wheelSubscriber;
+SensorSubscriber::Ptr cloudSubscriber;
+
+void failureHandle(const char* data, int size){
+    string str = data;
+    LOG(INFO) << "failureHandle: " << str;
+}
+
+void signalHandle(int sig){
+    requestToEnd = true;
+    LOG(INFO) << "requestToEnd";
+}
+
+int main(int argc, char *argv[])
+{
+    gflags::ParseCommandLineFlags(&argc, &argv, true);
+    google::InitGoogleLogging(argv[0]);
+    google::InstallFailureSignalHandler();
+    google::InstallFailureWriter(&failureHandle);
+    FLAGS_alsologtostderr = true;
+    FLAGS_colorlogtostderr = true;
+    FLAGS_stderrthreshold = 0;
+    FLAGS_logbufsecs = 0;
+    if(boost::filesystem::exists(FLAGS_base_dir)){
+        FLAGS_log_dir = FLAGS_base_dir + "/log";
+        boost::filesystem::create_directory(FLAGS_log_dir);
+    }
+
+    string offlineResultDir = FLAGS_base_dir + "/result";
+    string pcdResultDir = offlineResultDir + "/pcd";
+    string basePcdResultDir = offlineResultDir + "/basePcd";
+    string guessPcdResultDir = offlineResultDir + "/guessPcd";
+    string rawFrameResultDir = offlineResultDir + "/raw_frame";
+    if(!boost::filesystem::exists(offlineResultDir)){
+        boost::filesystem::create_directory(offlineResultDir);
+    }
+    int unused;
+    unused = system(string("rm " + offlineResultDir + "/*").c_str());
+    if(!boost::filesystem::exists(pcdResultDir)){
+        boost::filesystem::create_directory(pcdResultDir);
+    }else{
+        unused = system(string("rm " + pcdResultDir + "/*").c_str());
+    }
+    if(!boost::filesystem::exists(basePcdResultDir)){
+        boost::filesystem::create_directory(basePcdResultDir);
+    }else{
+        unused = system(string("rm " + basePcdResultDir + "/*").c_str());
+    }
+    if(!boost::filesystem::exists(guessPcdResultDir)){
+        boost::filesystem::create_directory(guessPcdResultDir);
+    }else{
+        unused = system(string("rm " + guessPcdResultDir + "/*").c_str());
+    }
+    if(!boost::filesystem::exists(rawFrameResultDir)){
+        boost::filesystem::create_directory(rawFrameResultDir);
+    }else{
+        unused = system(string("rm " + rawFrameResultDir + "/*").c_str());
+    }
+
+    Parameter::Instance()->init(FLAGS_base_dir);
+    SysController::Ptr sysController(new SysController());
+
+#ifdef ENABLE_ROS
+    string topic_imu = "/imu";
+    string topic_wheel = "/odom";
+    string topic_output_odom = "/imu_pose";
+    ros::init(argc, argv, "imu_pose");
+    ros::NodeHandle nh;
+    if(topic_imu.size()){
+        imuSubscriber.reset(new IMUSubscriber(sysController, &nh, topic_imu));
+    }
+    if(topic_wheel.size()){
+        wheelSubscriber.reset(new WheelSubscriber(sysController, &nh, topic_wheel));
+    }
+    dynamic_cast<RosPublisher*>(RosPublisher::Instance().get())->SetRosHandle(&nh);
+    RosPublisher::Instance()->init(topic_output_odom);
+    ros::AsyncSpinner spinner(4);
+    spinner.start();
+#else
+    DataReader::Instance()->Init(FLAGS_base_dir);
+    imuSubscriber.reset(new IMUReceiver(sysController));
+    wheelSubscriber.reset(new WheelReceiver(sysController));
+    gnssSubscriber.reset(new GNSSReceiver(sysController));
+    cloudSubscriber.reset(new CloudReceiver(sysController));
+    DataReader::Instance()->process();
+#endif
+
+    signal(SIGINT, signalHandle);
+    while(!requestToEnd){
+        usleep(10000);
+    }
+    Timer::PrintAll();
+    return 0;
+}

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