在data_pretreat_flow.cpp中的１６８行
我在断点设在这之后：current_gnss_data_.UpdateXYZ();
其中current_gnss_data_.local_E输出的数据为nan。
请问下这是什么原因。

以下是我一帧的gps信号
header:
seq: 9
stamp:
secs: 1599204405
nsecs: 861517906
frame_id: "gps"
status:
status: 0
service: 1
latitude: 24.6181951667
longitude: 118.036970833
altitude: 33.6
position_covariance: [11.559999999999999, 0.0, 0.0, 0.0, 11.559999999999999, 0.0, 0.0, 0.0, 184.95999999999998]
position_covariance_type: 1

定位

Hi,
I'd like to test my own data on this model, is it possible to do it?
Looking forward to hearing from you soon!

乾哥你好，在使用您的前端里程计扩展成lego_loam的过程中，我更改了launch中的点云和里程计话题，关闭了lego_loam中rviz的启动，但是运行的时候rviz不会显示点云，扩展不成功，请问扩展时候需要注意些什么

[ 2%] Built target geometry_msgs_generate_messages_cpp
make[2]: *** No rule to make target '/usr/lib/libf77blas.so', needed by '/home/hurricanezj/catkin_ws/devel/lib/aloam_velodyne/alaserMapping'. Stop.
CMakeFiles/Makefile2:2164: recipe for target 'localization_in_auto_driving/A-LOAM-devel/CMakeFiles/alaserMapping.dir/all' failed
make[1]: *** [localization_in_auto_driving/A-LOAM-devel/CMakeFiles/alaserMapping.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 2%] Built target pcl_msgs_generate_messages_eus
[ 3%] Built target kittiHelper
[ 3%] Built target rosgraph_msgs_generate_messages_cpp
[ 3%] Built target pcl_msgs_generate_messages_lisp
[ 3%] Built target pcl_msgs_generate_messages_nodejs
make[2]: *** No rule to make target '/usr/lib/libf77blas.so', needed by '/home/hurricanezj/catkin_ws/devel/lib/aloam_velodyne/alaserOdometry'. Stop.
CMakeFiles/Makefile2:2238: recipe for target 'localization_in_auto_driving/A-LOAM-devel/CMakeFiles/alaserOdometry.dir/all' failed
make[1]: *** [localization_in_auto_driving/A-LOAM-devel/CMakeFiles/alaserOdometry.dir/all] Error 2
[ 3%] Built target ascanRegistration
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

catkin_make的报错信息如上，应该是A-LOAM部分的依赖问题，我用sudo apt-get install libblas-dev安装了libblas了，但还是报错。而其实我也不需要A-LOAM的前端，我只是想看看定位的效果。请问，有什么建议吗？

我尝试着一个一个Tag运行，看看每一次的优化。
在git clone 5.0版本，并catkin_make后，roslaunch front_end.launch后，报告process has died。我不太清楚是哪里的问题，因为我并没有对代码做任何的修改。完整的信息如下：

hurricanezj@ZhaoJie-Alienware-17-R4:~/catkin_ws$ roslaunch lidar_localization front_end.launch
... logging to /home/hurricanezj/.ros/log/99c924c4-88fd-11ea-91e7-9cb6d0effb2d/roslaunch-ZhaoJie-Alienware-17-R4-25122.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ZhaoJie-Alienware-17-R4:34547/

SUMMARY

PARAMETERS

• /rosdistro: kinetic

• /rosversion: 1.12.14

  NODES
  /
  front_end_node (lidar_localization/front_end_node)
  rviz (rviz/rviz)

  ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [25139]
process[front_end_node-2]: started with pid [25140]
[front_end_node-2] process has died [pid 25140, exit code -11, cmd /home/hurricanezj/catkin_ws/devel/lib/lidar_localization/front_end_node __name:=front_end_node __log:=/home/hurricanezj/.ros/log/99c924c4-88fd-11ea-91e7-9cb6d0effb2d/front_end_node-2.log].
log file: /home/hurricanezj/.ros/log/99c924c4-88fd-11ea-91e7-9cb6d0effb2d/front_end_node-2*.log

希望您可以抽空帮我看看。运行环境为Ubuntu16.04，ros-kinetic ，前面的tag3.0与tag4.0均正常。

编译出现错误：
front_end.cpp:(.text._ZN4YAML18TypedBadConversionIfED2Ev[_ZN4YAML18TypedBadConversionIfED5Ev]+0xf): undefined reference to `YAML::BadConversion::~BadConversion()'
请问你装的yaml-cpp是什么版本的？@Little-Potato-1990

我在Ubuntu2004环境下使用catkin_make编译出现如下错误：

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
G2O_CORE_LIBRARY
linked by target "matching_node" in directory /home/joy/WS/localization_in_auto_driving/src/lidar_localization
linked by target "back_end_node" in directory /home/joy/WS/localization_in_auto_driving/src/lidar_localization
linked by target "front_end_node" in directory /home/joy/WS/localization_in_auto_driving/src/lidar_localization
linked by target "data_pretreat_node" in directory /home/joy/WS/localization_in_auto_driving/src/lidar_localization
当然几乎所有发节点都包含这个错误，想请教一下这个是什么问题，

    if (min_distance > detect_area_) {
        skip_num = std::max((int)(min_distance / 2.0), loop_step_);
        return false;
    } else {
        skip_num = loop_step_;
        return true;
    }

闭环修正那一篇提出：假如本次检测，当前帧和满足条件1 的历史帧中的最短距离是100米，而我们需要的是两米范围内的关键帧，那么我们认为在接下来的至少98米路程内，是不会有满足条件的历史帧的，那么这段距离内就没必要检测了。
为什么接下来的路程内不会有满足条件的历史帧？ min_distance是距离值，赋给skip_num做跳过的帧数，物理意义不一致

/home/***/localization_in_autodriving_ws/src/lidar_localization/src/apps/back_end_node.cpp:9:10: fatal error: lidar_localization/optimizeMap.h: 没有那个文件或目录 #include "lidar_localization/optimizeMap.h"

tag14下编译提示缺少头文件，我去检查了一下好像确实没有哎？请问是我哪里出问题了吗？

在models/scan_adjust/distortion_adjust.cpp中有下面的代码片段：

    float start_orientation = atan2(origin_cloud_ptr->points[0].y, origin_cloud_ptr->points[0].x);
    Eigen::AngleAxisf t_V(start_orientation, Eigen::Vector3f::UnitZ());
    Eigen::Matrix3f rotate_matrix = t_V.matrix();
    Eigen::Matrix4f transform_matrix = Eigen::Matrix4f::Identity();
    transform_matrix.block<3,3>(0,0) = rotate_matrix.inverse();
    pcl::transformPointCloud(*origin_cloud_ptr, *origin_cloud_ptr, transform_matrix);
    velocity_ = rotate_matrix * velocity_;
    angular_rate_ = rotate_matrix * angular_rate_;

这里对原始点云绕Z轴旋转start_orientation的角度不是很理解，而且角速度和线速度都有这样的操作。知乎上面也没有给出相应的解释，谢谢分享。

front_end_node: /usr/local/include/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = float; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (31)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
不定时出现，使用了上面eigen网页的办法能够解决，但运行时偶尔会出现，重新编译又不会出现，不知道有没有什么好的解决办法。

求更新

一些疑惑和bug，如有错误，请您谅解。
1.void VelocityData::TransformCoordinate(Eigen::Matrix4f transform_matrix)
{
....

    Eigen::Vector3d r(matrix(0,3), matrix(1,3), matrix(2,3));
    Eigen::Vector3d delta_v;
    delta_v(0) = w(1) * r(2) - w(2) * r(1);
    delta_v(1) = w(2) * r(0) - w(0) * r(2);
    **delta_v(2) = w(1) * r(1) - w(1) * r(0);** //这里叉乘感觉 应该是w(0) * r(1) - w(1) * r(0)
    v = v + delta_v;

....
}

2. data_pretreat_flow.cpp 中

bool DataPretreatFlow::TransformData() {
    gnss_pose_ = Eigen::Matrix4f::Identity();

    current_gnss_data_.UpdateXYZ();
    gnss_pose_(0,3) = current_gnss_data_.local_E;
    gnss_pose_(1,3) = current_gnss_data_.local_N;
    gnss_pose_(2,3) = current_gnss_data_.local_U;
    gnss_pose_.block<3,3>(0,0) = current_imu_data_.GetOrientationMatrix();
    gnss_pose_ *= lidar_to_imu_;

    **current_velocity_data_.TransformCoordinate(lidar_to_imu_);**//该变换感觉是反了，是否应该改为lidar_to_imu_.reverse().
    distortion_adjust_ptr_->SetMotionInfo(0.1, current_velocity_data_);
    distortion_adjust_ptr_->AdjustCloud(current_cloud_data_.cloud_ptr, current_cloud_data_.cloud_ptr);

    return true;
}

3.distortion_adjust.cpp

bool DistortionAdjust::AdjustCloud(...)
{
    float orientation_space = 2.0 * M_PI;
    float delete_space = 5.0 * M_PI / 180.0;
    float start_orientation = atan2(origin_cloud_ptr->points[0].y, origin_cloud_ptr->points[0].x);

    Eigen::AngleAxisf t_V(start_orientation, Eigen::Vector3f::UnitZ());
    Eigen::Matrix3f rotate_matrix = t_V.matrix();
    Eigen::Matrix4f transform_matrix = Eigen::Matrix4f::Identity();
    transform_matrix.block<3,3>(0,0) = rotate_matrix.inverse();
   pcl::transformPointCloud(*origin_cloud_ptr, *origin_cloud_ptr, transform_matrix);// 这边为什么要将 首个激光点 旋转到 雷达的X轴上去呢？
    velocity_ = rotate_matrix * velocity_;// 没能明白您这里的线速度和角速度为什么还需要坐标变换，您能解释下吗，麻烦了。
    angular_rate_ = rotate_matrix * angular_rate_;

    for (size_t point_index = 1; point_index < origin_cloud_ptr->points.size(); ++point_index) {
        float orientation = atan2(origin_cloud_ptr->points[point_index].y, origin_cloud_ptr->points[point_index].x);
        if (orientation < 0.0)
            orientation += 2.0 * M_PI;
        
        if (orientation < delete_space || 2.0 * M_PI - orientation < delete_space)
            continue;

        float real_time = fabs(orientation) / orientation_space * scan_period_ - scan_period_ / 2.0;

        Eigen::Vector3f origin_point(origin_cloud_ptr->points[point_index].x,
                                     origin_cloud_ptr->points[point_index].y,
                                     origin_cloud_ptr->points[point_index].z);

        Eigen::Matrix3f current_matrix = UpdateMatrix(real_time);
        Eigen::Vector3f rotated_point = current_matrix * origin_point;
        Eigen::Vector3f adjusted_point = rotated_point + velocity_ * real_time;
        CloudData::POINT point;
        point.x = adjusted_point(0);
        point.y = adjusted_point(1);
        point.z = adjusted_point(2);
        output_cloud_ptr->points.push_back(point);
    }

    pcl::transformPointCloud(*output_cloud_ptr, *output_cloud_ptr, transform_matrix.inverse());
    return true;
}

为什么编译会提示报如下错误呢？只有一个main函数。

Hi,
Is it possible to export the map showed in Rviz?
Thank you very much!

我用保存下来的pcd地图去做ndt匹配重定位的时候，误差极大，看轨迹是输出错误的轨迹，这是正常的吗？

bag 数据可以从别的地方下载吗？baidu 网盘从北美无法访问

您好，在编译(每一个tag)的时候会报错，报错如下：
[ 93%] Building CXX object lidar_localization/CMakeFiles/front_end_node.dir/src/sensor_data/gnss_data.cpp.o
[100%] Linking CXX executable /home/s/ros_ws/devel/lib/lidar_localization/front_end_node
CMakeFiles/front_end_node.dir/build/CMakeFiles/3.5.1/CompilerIdCXX/CMakeCXXCompilerId.cpp.o: In function main:
CMakeCXXCompilerId.cpp:(.text.startup+0x0): multiple definition of main'

CMakeFiles/front_end_node.dir/src/front_end_node.cpp.o:front_end_node.cpp:(.text.startup+0x0): first defined here

collect2: error: ld returned 1 exit status

lidar_localization/CMakeFiles/front_end_node.dir/build.make:974: recipe for target '/home/s/ros_ws/devel/lib/lidar_localization/front_end_node' failed

make[2]: *** [/home/s/ros_ws/devel/lib/lidar_localization/front_end_node] Error 1
CMakeFiles/Makefile2:492: recipe for target 'lidar_localization/CMakeFiles/front_end_node.dir/all' failed
make[1]: *** [lidar_localization/CMakeFiles/front_end_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed
请问这可能是什么原因？

你好,非常感谢你的工作,这里姿态的信息矩阵是否会更新呢

terminate called after throwing an instance of 'YAML::BadFile'
what(): bad file
terminate called after throwing an instance of 'YAML::BadFile'
what(): bad file
terminate called after throwing an instance of 'YAML::BadFile'
what(): bad file
[loop_closing_node-6] process has died [pid 9155, exit code -6, cmd /home/xc/lab_ws/devel/lib/lidar_localization/loop_closing_node __name:=loop_closing_node __log:=/home/xc/.ros/log/796c8116-6417-11ec-8d7c-dda1d1a189dd/loop_closing_node-6.log].
log file: /home/xc/.ros/log/796c8116-6417-11ec-8d7c-dda1d1a189dd/loop_closing_node-6*.log
[viewer_node-7] process has died [pid 9156, exit code -6, cmd /home/xc/lab_ws/devel/lib/lidar_localization/viewer_node __name:=viewer_node __log:=/home/xc/.ros/log/796c8116-6417-11ec-8d7c-dda1d1a189dd/viewer_node-7.log].
log file: /home/xc/.ros/log/796c8116-6417-11ec-8d7c-dda1d1a189dd/viewer_node-7*.log
[back_end_node-5] process has died [pid 9154, exit code -6, cmd /home/xc/lab_ws/devel/lib/lidar_localization/back_end_node __name:=back_end_node __log:=/home/xc/.ros/log/796c8116-6417-11ec-8d7c-dda1d1a189dd/back_end_node-5.log].
log file: /home/xc/.ros/log/796c8116-6417-11ec-8d7c-dda1d1a189dd/back_end_node-5*.log

after install glog and gflags still report error

ubuntu16.04,对lidar_localization执行catkin_make
G2O 出现软链接问题
/usr/bin/ld: cannot find -lG2O_TYPES_DATA-NOTFOUND
/usr/bin/ld: cannot find -lG2O_CORE_LIBRARY-NOTFOUND
/usr/bin/ld: cannot find -lG2O_STUFF_LIBRARY-NOTFOUND
/usr/bin/ld: cannot find -lG2O_SOLVER_PCG-NOTFOUND
/usr/bin/ld: cannot find -lG2O_SOLVER_CSPARSE-NOTFOUND
/usr/bin/ld: cannot find -lG2O_SOLVER_CHOLMOD-NOTFOUND
/usr/bin/ld: cannot find -lG2O_TYPES_SLAM3D-NOTFOUND
/usr/bin/ld: cannot find -lG2O_TYPES_SLAM3D_ADDONS-NOTFOUND

是不是我的环境有问题？
修改了部分软链接，编译安装了setup_file里的g2o，问题还是存在
有什么出坑的经验吗？

你好，我在运行roslaunch lidar_localization mapping出现eigen的错误，如下：
back_end_node: /home/zhangshun/catkin_ws/src/localization_in_auto_driving/lidar_localization/third_party/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = float; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(eigen_unaligned_array_assert_workaround_gcc47(array)) & (31)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.

请问这个怎么解决呢？谢谢

请问这个是什么问题，我觉得实例化过程没问题额

哥，这个速度顺序写错了吧，而且就算是w X r， 这个66行里也写错了吧
64 delta_v(0) = w(1) * r(2) - w(2) * r(1);
65 delta_v(1) = w(2) * r(0) - w(0) * r(2);
66 delta_v(2) = w(1) * r(1) - w(1) * r(0);
这个速度叉乘，66行应该是 delta_v(2) = w(0) * r(1) - w(1) * r(0); 吧