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‎.gitignore‎

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.vscode/*
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build
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.vscode
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.vscode/c_cpp_properties.json
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resultsOutput/

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10)
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project(intensity_feature_tracker)
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS "-std=c++14")
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set(CMAKE_CXX_FLAGS_RELEASE " -O3 -Wall -g -pthread -DROSCONSOLE_MIN_SEVERITY=5")
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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nav_msgs
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cv_bridge
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roscpp
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roslib
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sensor_msgs
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std_msgs
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pcl_conversions
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tf
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tf2
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tf2_ros
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message_filters
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)
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find_package(OpenMP REQUIRED)
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find_package(PCL REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(GTSAM REQUIRED QUIET)
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find_package(Ceres REQUIRED)
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS roscpp roslib message_runtime geometry_msgs nav_msgs std_msgs
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DEPENDS PCL EIGEN3
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INCLUDE_DIRS include
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)
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set( DBoW3_INCLUDE_DIRS "/usr/local/include" )
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set( DBoW3_LIBS "/usr/local/lib/libDBoW3.so" )
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include_directories(
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SYSTEM
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include
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${GTSAM_INCLUDE_DIR}
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${CERES_INCLUDE_DIRS}
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)
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link_directories(
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inlcude
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${PCL_LIBRARY_DIRS}
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${OpenCV_LIBRARY_DIRS}
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${GTSAM_LIBRARY_DIRS}
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)
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file(GLOB source_files
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src/intensity_feature_tracker_node.cpp
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src/intensity_feature_tracker.cpp
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src/loop_closure_handler.cpp
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src/Scancontext.cpp
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src/parameters.h
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)
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add_executable(${PROJECT_NAME}_node ${source_files})
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target_compile_options(${PROJECT_NAME}_node PRIVATE ${OpenMP_CXX_FLAGS})
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target_link_libraries(${PROJECT_NAME}_node ${CERES_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} ${DBoW3_LIBS} Eigen3::Eigen gtsam)
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file(GLOB map_source_files
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src/mapOptimizationNode.cpp
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src/mapOptimization.cpp
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src/image_handler.h
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src/ikd-Tree/ikd_Tree.cpp
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ikd-Tree/ikd_Tree.h
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src/parameters.h
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)
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add_executable(${PROJECT_NAME}_mapping_node ${map_source_files})
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target_compile_options(${PROJECT_NAME}_mapping_node PRIVATE ${OpenMP_CXX_FLAGS})
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target_link_libraries(${PROJECT_NAME}_mapping_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} Eigen3::Eigen gtsam ${CERES_LIBRARIES} ${OpenMP_LIBS})
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add_executable(ascanRegistration src/scanRegistration.cpp src/intensity_feature_tracker.cpp
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src/loop_closure_handler.cpp
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src/Scancontext.cpp
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src/parameters.h)
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target_compile_options(ascanRegistration PRIVATE ${OpenMP_CXX_FLAGS})
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target_link_libraries(ascanRegistration ${catkin_LIBRARIES} ${CERES_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} Eigen3::Eigen ${DBoW3_LIBS} gtsam )
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add_executable(alaserMapping_node src/laserMapping.cpp)
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target_link_libraries(alaserMapping_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
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add_executable(alaserOdometry_node src/laserOdometry.cpp)
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target_link_libraries(alaserOdometry_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
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add_executable(odomHandler_node src/odom_handler_node.cpp)
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target_link_libraries(odomHandler_node ${catkin_LIBRARIES})
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‎Dockerfile‎

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FROM ros:noetic-ros-base
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LABEL Maintainer="Wenqiang Du <[email protected]>"
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LABEL intensitySLAM.version="0.1"
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RUN apt-get update
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RUN apt-get install -y --fix-missing --no-install-recommends git ros-noetic-cv-bridge ros-noetic-image-transport ros-noetic-pcl-ros libpcl-dev wget unzip
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RUN mkdir -p /dependencies_ws &&\
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cd /dependencies_ws &&\
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wget -O /dependencies_ws/ceres.zip https://github.com/ceres-solver/ceres-solver/archive/1.14.0.zip &&\
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apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev unzip libsuitesparse-dev &&\
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cd /dependencies_ws/ && unzip ceres.zip -d /dependencies_ws/ &&\
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cd /dependencies_ws/ceres-solver-1.14.0 &&\
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mkdir ceres-bin && cd ceres-bin &&\
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cmake .. &&\
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make install -j4
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RUN apt update && apt install -y --force-yes apt-transport-https && \
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wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB && \
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apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB && \
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sh -c 'echo deb https://apt.repos.intel.com/mkl all main > /etc/apt/sources.list.d/intel-mkl.list' && \
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apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install cpio intel-mkl-64bit-2018.2-046
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# RUN cd /dependencies_ws/ &&\
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# git clone https://github.com/borglab/gtsam.git
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# RUN cd /dependencies_ws/gtsam &&\
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# mkdir build && cd build &&\
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# cmake .. &&\
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# make install -j4
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RUN cd /dependencies_ws/ &&\
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wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.1.0.zip &&\
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unzip gtsam.zip -d /dependencies_ws/ &&\
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cd /dependencies_ws/gtsam-4.1.0 &&\
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mkdir build && cd build &&\
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cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF .. &&\
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make install -j4
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RUN cd /dependencies_ws/ &&\
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git clone https://github.com/rmsalinas/DBow3.git &&\
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cd /dependencies_ws/DBow3 &&\
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mkdir build && cd build &&\
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cmake .. &&\
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make &&\
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make install -j4
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RUN cp /usr/local/lib/libmetis-gtsam.so /usr/lib/
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RUN mkdir -p /intensitySLAM/src &&\
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cd /intensitySLAM/src &&\
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git clone https://github.com/SnowCarter/Intensity_based_LiDAR_SLAM.git &&\
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cd /intensitySLAM &&\
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. /opt/ros/${ROS_DISTRO}/setup.sh &&\
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catkin_make &&\
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echo "source /intensitySLAM/devel/setup.bash" >> ~/.bashrc
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WORKDIR /intensitySLAM

‎LICENSE‎

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MIT License
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Copyright (c) 2023 Wenqiang Du
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md‎

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# Real-Time Simultaneous Localization and Mapping with LiDAR Intensity
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The utilization of LiDAR's intensity image for scan matching addresses the issue of degeneracy.
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[![IMAGE ALT TEXT HERE](./config/spot.png)](https://youtu.be/B_JX0q5Cdeg)
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## Paper
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Thank you for citing our [paper](https://arxiv.org/abs/2301.09257) if you use any of this code or datasets.
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```
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@article{du2023real,
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title={Real-Time Simultaneous Localization and Mapping with LiDAR intensity},
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author={Du, Wenqiang and Beltrame, Giovanni},
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journal={arXiv preprint arXiv:2301.09257},
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year={2023}
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}
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```
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## Authors
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- [@Wenqiang Du](http://wenqiangdu.me/)
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- [@Linkedin](https://www.linkedin.com/in/wenqiangdu/)
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- [@Github](https://github.com/SnowCarter)
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- [@Giovanni Beltrame](https://mistlab.ca/people/beltrame/)
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- [@Linkedin](https://www.linkedin.com/in/gbeltrame/)
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## Installation
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### Dependency
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* [ROS noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)
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* [ceres-solver](https://github.com/ceres-solver/ceres-solver)
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```bash
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$ mkdir ~/dependencies_ws
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$ cd ~/dependencies_ws/
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$ wget -O ~/dependencies_ws/ceres.zip https://github.com/ceres-solver/ceres-solver/archive/1.14.0.zip
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$ apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev unzip libsuitesparse-dev
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$ cd ~/dependencies_ws/ && unzip ceres.zip -d ~/dependencies_ws/
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$ cd /dependencies_ws/ceres-solver-1.14.0
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$ mkdir ceres-bin && cd ceres-bin
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$ cmake ..
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$ sudo make install -j4
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```
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* [GTSAM](https://github.com/borglab/gtsam)
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```
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$ cd ~/dependencies_ws/
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$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.1.0.zip
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$ unzip gtsam.zip -d ~/dependencies_ws/
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$ cd ~/dependencies_ws/gtsam-4.1.0
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$ mkdir build && cd build
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$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
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$ sudo make install -j4
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```
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* [DBOW3](https://github.com/rmsalinas/DBow3)
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```
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$ cd ~/dependencies_ws/
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$ git clone https://github.com/rmsalinas/DBow3.git
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$ cd DBow3/ && mkdir build && cd build
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$ cmake ..
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$ make
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$ sudo make install
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```
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### Compile and Launch
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- Create workspace
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```
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mkidr -p catkin_ws/src
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```
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- Clone the project
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```bash
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cd catkin_ws/src/
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git clone https://github.com/SnowCarter/Intensity_based_LiDAR_SLAM.git
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```
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- Go to the project workspace directory
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```bash
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cd ../
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```
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- Compile
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```bash
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source /opt/ros/noetic/setup.bash
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catkin_make
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```
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- Launch
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```bash
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source devel/setup.bash
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roslaunch intensity_feature_tracker spot.launch rviz:=1
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```
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- Play bag file
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```
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rosbag play xxx.bag --clock
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```
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## [Docker](https://www.docker.com/) support
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#### Building
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- Create workspace
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```
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mkidr -p catkin_ws/src
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```
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- Clone the project
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```bash
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cd catkin_ws/src/
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git clone https://github.com/SnowCarter/Intensity_based_LiDAR_SLAM.git
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```
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- Go to the project directory
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```bash
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cd Intensity_based_LiDAR_SLAM/
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```
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- Build docker image
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```
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docker build . -t intensity_lidar_slam
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```
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#### Launch
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- Launch docker images with intensity Lidar SLAM (Terminal 1)
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```
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docker run --rm -it --net=host --privileged intensity_lidar_slam:latest /bin/bash -i -c 'roslaunch intensity_feature_tracker spot.launch rviz:=0'
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```
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- Play bag file (Terminal 2)
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```
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rosbag play xxx.bag --clock
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```
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- RVIZ (Terminal 3)
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```
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rosrun rviz rviz -d catkin_ws/src/Intensity_based_LiDAR_SLAM/launch/rviz_setting.rviz
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```
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## Example Bag file
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* [Onedrive](https://polymtlca0-my.sharepoint.com/:u:/g/personal/wenqiang_du_polymtl_ca/EUn0TO3TMLdFvBvRiVFroIUBLXWWzqdy9wXMKtIVT6MCzw?e=MedxZ2)
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```
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path: spot_corridor.bag
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version: 2.0
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duration: 8:46s (526s)
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start: Aug 12 2022 16:25:24.06 (1660335924.06)
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end: Aug 12 2022 16:34:10.95 (1660336450.95)
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size: 8.2 GB
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messages: 57957
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compression: lz4 [5270/5270 chunks; 53.28%]
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uncompressed: 15.5 GB @ 30.0 MB/s
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compressed: 8.2 GB @ 16.0 MB/s (53.28%)
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types: sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
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sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
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topics: /os_cloud_node/imu 52688 msgs : sensor_msgs/Imu
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/os_cloud_node/points 5269 msgs : sensor_msgs/PointCloud2
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```
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## Contributing
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Contributions are always welcome!
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## License
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[MIT](https://choosealicense.com/licenses/mit/)
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[![MIT License](https://img.shields.io/badge/License-MIT-green.svg)](https://choosealicense.com/licenses/mit/)
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## Acknowledgements
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- [Robust Place Recognition using an Imaging Lidar](https://github.com/TixiaoShan/imaging_lidar_place_recognition)
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- [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM)
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- [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono)
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- [Scan Context](https://github.com/irapkaist/scancontext)
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- [LVI-SAM](https://github.com/TixiaoShan/LVI-SAM)
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- [ikd-Tree](https://github.com/hku-mars/ikd-Tree)
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## 🚀 About Me
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I'm a Ph.D. candidate in [MISTLab](https://mistlab.ca/).
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## Support
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For support, email [email protected].
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![Logo](https://mistlab.ca/images/mistlogo.png)

‎config/orbvoc.dbow3‎

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‎config/spot.png‎

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‎config/spot.stl‎

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