[
{
"path": "CMakeLists.txt",
"content": "# SPDX-License-Identifier: BSD-2-Clause\ncmake_minimum_required(VERSION 2.8.3)\nproject(radar_graph_slam)\n\n# Can we use C++17 in indigo?\nadd_definitions(-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)\n# add_definitions(\"-Wall -g\")\nset(CMAKE_CXX_FLAGS \"-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2\")\nset(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} \"${CMAKE_CURRENT_LIST_DIR}/cmake\")\n\n# pcl 1.7 causes a segfault when it is built with debug mode\nset(CMAKE_BUILD_TYPE \"RELEASE\")\n\nfind_package(catkin REQUIRED COMPONENTS\n roscpp\n rospy\n pcl_ros\n geodesy\n nmea_msgs\n sensor_msgs\n geometry_msgs\n message_generation\n interactive_markers\n ndt_omp\n fast_gicp\n image_transport\n cv_bridge\n # rosopencv\n)\ncatkin_python_setup()\n\nfind_package(OpenCV REQUIRED)\ninclude_directories(${OpenCV_INCLUDE_DIRS})\nmessage(STATUS \"version: ${OpenCV_VERSION}\")\n\nfind_package(PCL REQUIRED)\ninclude_directories(${PCL_INCLUDE_DIRS})\nlink_directories(${PCL_LIBRARY_DIRS})\nadd_definitions(${PCL_DEFINITIONS})\n\nmessage(STATUS \"PCL_INCLUDE_DIRS:\" ${PCL_INCLUDE_DIRS})\nmessage(STATUS \"PCL_LIBRARY_DIRS:\" ${PCL_LIBRARY_DIRS})\nmessage(STATUS \"PCL_DEFINITIONS:\" ${PCL_DEFINITIONS})\n\nfind_package(G2O REQUIRED)\ninclude_directories(SYSTEM ${G2O_INCLUDE_DIR} ${G2O_INCLUDE_DIRS})\nlink_directories(${G2O_LIBRARY_DIRS})\n# link_libraries(${G2O_LIBRARIES})\n\nfind_package(OpenMP)\nif (OPENMP_FOUND)\n set (CMAKE_C_FLAGS \"${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}\")\n set (CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}\")\nendif()\n\nfind_package(GTSAM REQUIRED QUIET)\nlink_directories(${GTSAM_LIBRARY_DIRS})\n\nfind_library(VGICP_CUDA_FOUND NAMES fast_vgicp_cuda)\nmessage(STATUS \"VGICP_CUDA_FOUND:\" ${VGICP_CUDA_FOUND})\nif(VGICP_CUDA_FOUND)\n add_definitions(-DUSE_VGICP_CUDA)\nendif()\n\n########################\n## message generation ##\n########################\nadd_message_files(FILES\n FloorCoeffs.msg\n ScanMatchingStatus.msg\n)\n\nadd_service_files(FILES\n SaveMap.srv\n DumpGraph.srv\n)\n\ngenerate_messages(DEPENDENCIES std_msgs geometry_msgs)\n\n###################################\n## catkin specific configuration ##\n###################################\ncatkin_package(\n INCLUDE_DIRS include\n LIBRARIES radar_graph_slam_nodelet\n# CATKIN_DEPENDS pcl_ros roscpp sensor_msgs\n DEPENDS system_lib GTSAM OpenCV\n)\n\n###########\n## Build ##\n###########\ninclude_directories(include)\ninclude_directories(\n ${PCL_INCLUDE_DIRS}\n ${catkin_INCLUDE_DIRS}\n ${GTSAM_INCLUDE_DIR}\n \"~/sensor_ws/devel/include\"\n)\n\n# nodelets\nadd_library(preprocessing_nodelet\n apps/preprocessing_nodelet.cpp\n src/radar_ego_velocity_estimator.cpp\n #src/lib/radar_body_velocity_estimator.cpp\n #src/lib/radar_body_velocity_estimator_ros.cpp\n)\ntarget_link_libraries(preprocessing_nodelet\n ${catkin_LIBRARIES}\n ${PCL_LIBRARIES}\n ${OpenCV_LIBRARIES}\n ${Boost_LIBRARIES}\n)\nadd_dependencies(preprocessing_nodelet ${PROJECT_NAME}_gencpp)\n\n\nadd_library(scan_matching_odometry_nodelet\n apps/scan_matching_odometry_nodelet.cpp\n src/radar_graph_slam/registrations.cpp\n)\ntarget_link_libraries(scan_matching_odometry_nodelet\n ${catkin_LIBRARIES}\n ${PCL_LIBRARIES}\n)\nadd_dependencies(scan_matching_odometry_nodelet ${PROJECT_NAME}_gencpp)\n\n\nadd_library(radar_graph_slam_nodelet\n apps/radar_graph_slam_nodelet.cpp\n src/radar_graph_slam/graph_slam.cpp\n src/radar_graph_slam/loop_detector.cpp\n src/radar_graph_slam/Scancontext.cpp\n src/radar_graph_slam/keyframe.cpp\n src/radar_graph_slam/map_cloud_generator.cpp\n src/radar_graph_slam/registrations.cpp\n src/radar_graph_slam/information_matrix_calculator.cpp\n src/g2o/robust_kernel_io.cpp\n)\ntarget_link_libraries(radar_graph_slam_nodelet\n ${catkin_LIBRARIES}\n ${OpenCV_LIBS}\n ${PCL_LIBRARIES}\n ${G2O_TYPES_DATA}\n ${G2O_CORE_LIBRARY}\n ${G2O_STUFF_LIBRARY}\n ${G2O_SOLVER_PCG}\n ${G2O_SOLVER_CSPARSE} # be aware of that CSPARSE is released under LGPL\n ${G2O_SOLVER_CHOLMOD} # be aware of that cholmod is released under GPL\n ${G2O_TYPES_SLAM3D}\n ${G2O_TYPES_SLAM3D_ADDONS}\n)\nadd_dependencies(radar_graph_slam_nodelet ${PROJECT_NAME}_gencpp)\n\n\n\n# Adjust Groundtruth\nadd_executable(gt_adjust src/gt_adjust.cpp )\ntarget_link_libraries(gt_adjust\n radar_graph_slam_nodelet\n ${catkin_LIBRARIES}\n ${Boost_LIBRARIES}\n ${G2O_TYPES_DATA}\n ${G2O_CORE_LIBRARY}\n ${G2O_STUFF_LIBRARY}\n ${G2O_SOLVER_PCG}\n ${G2O_SOLVER_CSPARSE} # be aware of that CSPARSE is released under LGPL\n ${G2O_SOLVER_CHOLMOD} # be aware of that cholmod is released under GPL\n ${G2O_TYPES_SLAM3D}\n ${G2O_TYPES_SLAM3D_ADDONS}\n)\n# Calculate UTM->world Transform\nadd_executable(gps_traj_align src/gps_traj_align.cpp )\ntarget_link_libraries(gps_traj_align\n radar_graph_slam_nodelet\n ${catkin_LIBRARIES}\n ${Boost_LIBRARIES}\n ${G2O_TYPES_DATA}\n ${G2O_CORE_LIBRARY}\n ${G2O_STUFF_LIBRARY}\n ${G2O_SOLVER_PCG}\n ${G2O_SOLVER_CSPARSE} # be aware of that CSPARSE is released under LGPL\n ${G2O_SOLVER_CHOLMOD} # be aware of that cholmod is released under GPL\n ${G2O_TYPES_SLAM3D}\n ${G2O_TYPES_SLAM3D_ADDONS}\n)\n\ncatkin_install_python(\n PROGRAMS\n src/${PROJECT_NAME}/bag_player.py\n src/${PROJECT_NAME}/ford2bag.py\n src/${PROJECT_NAME}/map2odom_publisher.py\n DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n)\n\ninstall(FILES nodelet_plugins.xml\n DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n)\n\ninstall(TARGETS\n preprocessing_nodelet\n scan_matching_odometry_nodelet \n radar_graph_slam_nodelet\n LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})\n"
},
{
"path": "LICENSE",
"content": " GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free Software Foundation, Inc. \n Everyone is permitted to copy and distribute verbatim copies\n of this license document, but changing it is not allowed.\n\n Preamble\n\n The GNU General Public License is a free, copyleft license for\nsoftware and other kinds of works.\n\n The licenses for most software and other practical works are designed\nto take away your freedom to share and change the works. By contrast,\nthe GNU General Public License is intended to guarantee your freedom to\nshare and change all versions of a program--to make sure it remains free\nsoftware for all its users. We, the Free Software Foundation, use the\nGNU General Public License for most of our software; it applies also to\nany other work released this way by its authors. You can apply it to\nyour programs, too.\n\n When we speak of free software, we are referring to freedom, not\nprice. 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},
{
"path": "README.md",
"content": "# 4DRadarSLAM\n## A 4D Imaging Radar SLAM System for Large-scale Environments based on Pose Graph Optimization\n\n[Paper (ResearchGate)](https://www.researchgate.net/publication/371309896_4DRadarSLAM_A_4D_Imaging_Radar_SLAM_System_for_Large-scale_Environments_based_on_Pose_Graph_Optimization), [IEEEXplore](https://ieeexplore.ieee.org/document/10160670), [Video](https://www.youtube.com/watch?v=Qlvs7ywA5TI), [Dataset (NTU4DRadLM)](https://github.com/junzhang2016/NTU4DRadLM)\n\n***4DRadarSLAM*** is an open source ROS package for real-time 6DOF SLAM using a 4D Radar. It is based on 3D Graph SLAM with Adaptive Probability Distribution GICP scan matching-based odometry estimation and Intensity Scan Context loop detection. It also supports several graph constraints, such as GPS. We have tested this package with ***Oculli Eagle*** in outdoor structured (buildings), unstructured (trees and grasses) and semi-structured environments.\n\n4DRadarSLAM can operate in adverse wheather. We did a experiment in which sensors are covered by dense ***Smoke***. The Lidar SLAM (R2LIVE) failed, but our 4DRadarSLAM is not affected by it, thanks to the penetration of millimeter waves to small objects such as smoke and rain.\n\n\n ![\"drawing\"](\"./doc/mapping_smoke.gif\")
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\n\n\n## 1. Dependency\n### 1.1 **Ubuntu** and **ROS**\nUbuntu 64-bit 18.04 or 20.04.\nROS Melodic or Noetic. [ROS Installation](http://wiki.ros.org/ROS/Installation):\n\n### 1.2 ***4DRadarSLAM*** requires the following libraries:\n- Eigen3\n- OpenMP\n- PCL\n- g2o\n### 1.3 The following ROS packages are required:\n- geodesy\n- nmea_msgs\n- pcl_ros\n- Our modified [fast_apdgicp](https://github.com/zhuge2333/fast_apdgicp), in which Adaptive Probability Distribution GICP algorithum module is added. The original is [fast_gicp](https://github.com/SMRT-AIST/fast_gicp)\n- [barometer_bmp388](https://github.com/zhuge2333/barometer_bmp388.git)\n```\n sudo apt-get install ros-XXX-geodesy ros-XXX-pcl-ros ros-XXX-nmea-msgs ros-XXX-libg2o\n```\n**NOTICE:** remember to replace \"XXX\" on above command as your ROS distributions, for example, if your use ROS-noetic, the command should be:\n```\n sudo apt-get install ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs ros-noetic-libg2o\n```\n\n## 2. System architecture\n***4DRadarSLAM*** consists of three nodelets.\n\n- *preprocessing_nodelet*\n- *scan_matching_odometry_nodelet*\n- *radar_graph_slam_nodelet*\n\nThe input point cloud is first downsampled by ***preprocessing_nodelet***; the radar pointcloud is transformed to Livox LiDAR frame; estimate its ego velocity and remove dynamic objects, and then passed to the next nodelets. While scan_matching_odometry_nodelet estimates the sensor pose by iteratively applying a scan matching between consecutive frames (i.e., odometry estimation). The estimated odometry are sent to ***radar_graph_slam***. To compensate the accumulated error of the scan matching, it performs loop detection and optimizes a pose graph which takes various constraints into account.\n\n\n
![](\"doc/fig_flowchart_system.png\")
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![](\"doc/fig_carpark_map.png\")
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![](\"doc/fig_map_compare.png\")
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