#include <omp.h>
#include <mutex>
#include <math.h>
#include <thread>
#include <fstream>
#include <csignal>
#include <unistd.h>
#include <Python.h>
#include <so3_math.h>
#include <ros/ros.h>
#include <Eigen/Core>
#include "IMU_Processing.hpp"
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <visualization_msgs/Marker.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>          //PoseWithCovarianceStamped
#include <livox_ros_driver/CustomMsg.h>
#include "preprocess.h"
#include <ikd-Tree/ikd_Tree.h>

#include <std_msgs/Header.h>
#include <std_msgs/Float64MultiArray.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/NavSatFix.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <pcl/search/impl/search.hpp>
#include <pcl/range_image/range_image.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/common/common.h>
#include <pcl/common/transforms.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/ndt.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/crop_box.h>
#include <pcl_conversions/pcl_conversions.h>
#include "scancontext/Scancontext.h"
// gstam
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/navigation/GPSFactor.h>
#include <gtsam/navigation/ImuFactor.h>
#include <gtsam/navigation/CombinedImuFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ISAM2.h>

#include "keyFramesManager.h"
/*
// gnss
#include "GNSS_Processing.hpp"
#include "sensor_msgs/NavSatFix.h"
 */

// save map
#include "fast_lio_sam/save_map.h"
#include "fast_lio_sam/save_pose.h"

// save data in kitti format 
#include <sstream>
#include <fstream>
#include <iomanip>

// using namespace gtsam;

#define INIT_TIME (0.1)
#define LASER_POINT_COV (0.001)
#define MAXN (720000)
#define PUBFRAME_PERIOD (20)

/*** Time Log Variables ***/
double kdtree_incremental_time = 0.0, kdtree_search_time = 0.0, kdtree_delete_time = 0.0;
double T1[MAXN], s_plot[MAXN], s_plot2[MAXN], s_plot3[MAXN], s_plot4[MAXN], s_plot5[MAXN], s_plot6[MAXN], s_plot7[MAXN], s_plot8[MAXN], s_plot9[MAXN], s_plot10[MAXN], s_plot11[MAXN];
double match_time = 0, solve_time = 0, solve_const_H_time = 0;
int kdtree_size_st = 0, kdtree_size_end = 0, add_point_size = 0, kdtree_delete_counter = 0;
bool runtime_pos_log = false, pcd_save_en = false, time_sync_en = false, extrinsic_est_en = true, path_en = true;

bool locate_mode=false;
/**************************/

float res_last[100000] = {0.0}; //残差，点到面距离平方和
float DET_RANGE = 300.0f;
const float MOV_THRESHOLD = 1.5f;

mutex mtx_buffer;
condition_variable sig_buffer;

string root_dir = ROOT_DIR;
string map_file_path, lid_topic, imu_topic;

double res_mean_last = 0.05, total_residual = 0.0;
double last_timestamp_lidar = 0, last_timestamp_imu = -1.0;
double gyr_cov = 0.1, acc_cov = 0.1, b_gyr_cov = 0.0001, b_acc_cov = 0.0001;
double filter_size_corner_min = 0, filter_size_surf_min = 0, filter_size_map_min = 0, fov_deg = 0;
double cube_len = 0, HALF_FOV_COS = 0, FOV_DEG = 0, total_distance = 0, lidar_end_time = 0, first_lidar_time = 0.0;
int effct_feat_num = 0, time_log_counter = 0, scan_count = 0, publish_count = 0;
int iterCount = 0, feats_down_size = 0, NUM_MAX_ITERATIONS = 0, laserCloudValidNum = 0, pcd_save_interval = -1, pcd_index = 0;
bool point_selected_surf[100000] = {0}; // 是否为平面特征点
bool lidar_pushed, flg_first_scan = true, flg_exit = false, flg_EKF_inited;
bool scan_pub_en = false, dense_pub_en = false, scan_body_pub_en = false;

vector<vector<int>> pointSearchInd_surf;
vector<BoxPointType> cub_needrm; // ikd-tree中，地图需要移除的包围盒序列
vector<PointVector> Nearest_Points;
vector<double> extrinT(3, 0.0);
vector<double> extrinR(9, 0.0);
deque<double> time_buffer;               // 记录lidar时间
deque<PointCloudXYZI::Ptr> lidar_buffer; //记录特征提取或间隔采样后的lidar（特征）数据
deque<sensor_msgs::Imu::ConstPtr> imu_buffer;

PointCloudXYZI::Ptr featsFromMap(new PointCloudXYZI());
PointCloudXYZI::Ptr feats_undistort(new PointCloudXYZI());
PointCloudXYZI::Ptr feats_down_body(new PointCloudXYZI());  //畸变纠正后降采样的单帧点云，lidar系
PointCloudXYZI::Ptr feats_down_world(new PointCloudXYZI()); //畸变纠正后降采样的单帧点云，w系
PointCloudXYZI::Ptr normvec(new PointCloudXYZI(100000, 1)); //特征点在地图中对应点的，局部平面参数,w系
PointCloudXYZI::Ptr laserCloudOri(new PointCloudXYZI(100000, 1));
PointCloudXYZI::Ptr corr_normvect(new PointCloudXYZI(100000, 1)); //对应点法相量？
PointCloudXYZI::Ptr _featsArray;                                  // ikd-tree中，map需要移除的点云

pcl::VoxelGrid<PointType> downSizeFilterSurf; //单帧内降采样使用voxel grid
pcl::VoxelGrid<PointType> downSizeFilterMap;  //未使用

KD_TREE ikdtree;

V3F XAxisPoint_body(LIDAR_SP_LEN, 0.0, 0.0);
V3F XAxisPoint_world(LIDAR_SP_LEN, 0.0, 0.0);
V3D euler_cur;
V3D position_last(Zero3d);
V3D Lidar_T_wrt_IMU(Zero3d); // T lidar to imu (imu = r * lidar + t)
M3D Lidar_R_wrt_IMU(Eye3d);  // R lidar to imu (imu = r * lidar + t)

/*** EKF inputs and output ***/
std::mutex ikf_lock_;
MeasureGroup Measures;
esekfom::esekf<state_ikfom, 12, input_ikfom> ikfom_; // 状态，噪声维度，输入
state_ikfom state_point;
state_ikfom last_state_point;
vect3 pos_lid; // world系下lidar坐标

nav_msgs::Path path;
nav_msgs::Odometry odomAftMapped;
geometry_msgs::Quaternion geoQuat;
geometry_msgs::PoseStamped msg_body_pose;

shared_ptr<Preprocess> p_pre(new Preprocess());
shared_ptr<ImuProcess> p_imu(new ImuProcess());

/*back end*/
vector<pcl::PointCloud<PointType>::Ptr> cornerCloudKeyFrames; // 历史所有关键帧的角点集合（降采样）
vector<pcl::PointCloud<PointType>::Ptr> surfCloudKeyFrames;   // 历史所有关键帧的平面点集合（降采样）

pcl::PointCloud<PointType>::Ptr cloudKeyPoses3D(new pcl::PointCloud<PointType>());         // 历史关键帧位姿（位置）
pcl::PointCloud<PointTypePose>::Ptr cloudKeyPoses6D(new pcl::PointCloud<PointTypePose>()); // 历史关键帧位姿
pcl::PointCloud<PointType>::Ptr copy_cloudKeyPoses3D(new pcl::PointCloud<PointType>());
pcl::PointCloud<PointTypePose>::Ptr copy_cloudKeyPoses6D(new pcl::PointCloud<PointTypePose>());

pcl::PointCloud<PointTypePose>::Ptr fastlio_unoptimized_cloudKeyPoses6D(new pcl::PointCloud<PointTypePose>()); //  存储fastlio 未优化的位姿

// voxel filter paprams
float odometrySurfLeafSize;
float mappingCornerLeafSize;
float mappingSurfLeafSize;

float z_tollerance;
float rotation_tollerance;

// CPU Params
int numberOfCores = 4;
double mappingProcessInterval;

/*loop clousre*/
bool startFlag = true;
bool loopClosureEnableFlag;
float loopClosureFrequency; //   回环检测频率
int surroundingKeyframeSize;
float historyKeyframeSearchRadius;   // 回环检测 radius kdtree搜索半径
float historyKeyframeSearchTimeDiff; //  帧间时间阈值
int historyKeyframeSearchNum;        //   回环时多少个keyframe拼成submap
float historyKeyframeFitnessScore;   // icp 匹配阈值
bool potentialLoopFlag = false;

ros::Publisher pubHistoryKeyFrames; //  发布 loop history keyframe submap
ros::Publisher pubIcpKeyFrames;
ros::Publisher pubRecentKeyFrames;
ros::Publisher pubRecentKeyFrame;
ros::Publisher pubCloudRegisteredRaw;
ros::Publisher pubLoopConstraintEdge;

bool aLoopIsClosed = false;
map<int, int> loopIndexContainer; // from new to old
vector<pair<int, int>> loopIndexQueue;
vector<gtsam::Pose3> loopPoseQueue;
vector<gtsam::noiseModel::Diagonal::shared_ptr> loopNoiseQueue;
deque<std_msgs::Float64MultiArray> loopInfoVec;

nav_msgs::Path globalPath;

// 局部关键帧构建的map点云，对应kdtree，用于scan-to-map找相邻点
pcl::KdTreeFLANN<PointType>::Ptr kdtreeCornerFromMap(new pcl::KdTreeFLANN<PointType>());
pcl::KdTreeFLANN<PointType>::Ptr kdtreeSurfFromMap(new pcl::KdTreeFLANN<PointType>());

pcl::KdTreeFLANN<PointType>::Ptr kdtreeSurroundingKeyPoses(new pcl::KdTreeFLANN<PointType>());
pcl::KdTreeFLANN<PointType>::Ptr kdtreeHistoryKeyPoses(new pcl::KdTreeFLANN<PointType>());

// 降采样
pcl::VoxelGrid<PointType> downSizeFilterCorner;
// pcl::VoxelGrid<PointType> downSizeFilterSurf;
pcl::VoxelGrid<PointType> downSizeFilterICP;
pcl::VoxelGrid<PointType> downSizeFilterSurroundingKeyPoses; // for surrounding key poses of scan-to-map optimization

float transformTobeMapped[6]; //  当前帧的位姿(world系下)

std::mutex mtx;
std::mutex mtxLoopInfo;

// Surrounding map
float surroundingkeyframeAddingDistThreshold;  //  判断是否为关键帧的距离阈值
float surroundingkeyframeAddingAngleThreshold; //  判断是否为关键帧的角度阈值
float surroundingKeyframeDensity;
float surroundingKeyframeSearchRadius;

// gtsam
gtsam::NonlinearFactorGraph gtSAMgraph;
gtsam::Values initialEstimate;
gtsam::Values optimizedEstimate;
gtsam::ISAM2 *isam;
gtsam::Values isamCurrentEstimate;
Eigen::MatrixXd poseCovariance;

ros::Publisher pubLaserCloudSurround;
ros::Publisher pubOptimizedGlobalMap ;           //   发布最后优化的地图

bool    recontructKdTree = false;
int updateKdtreeCount = 0 ;        //  每100次更新一次
bool visulize_IkdtreeMap = false;            //  visual iktree submap

// global map visualization radius
float globalMapVisualizationSearchRadius;
float globalMapVisualizationPoseDensity;
float globalMapVisualizationLeafSize;


bool savePCD;               // 是否保存地图
string savePCDDirectory;    // 保存路径
bool ndt_loop=false;
/*
 * scancontext 回环检测
 */
SCManager scManager;
double scDistThres=0.2;
double scMaximumRadius=80;
/**
 * 更新里程计轨迹
 */
void updatePath(const PointTypePose &pose_in)
{
    string odometryFrame = "camera_init";
    geometry_msgs::PoseStamped pose_stamped;
    pose_stamped.header.stamp = ros::Time().fromSec(pose_in.time);

    pose_stamped.header.frame_id = odometryFrame;
    pose_stamped.pose.position.x =  pose_in.x;
    pose_stamped.pose.position.y = pose_in.y;
    pose_stamped.pose.position.z =  pose_in.z;
    tf::Quaternion q = tf::createQuaternionFromRPY(pose_in.roll, pose_in.pitch, pose_in.yaw);
    pose_stamped.pose.orientation.x = q.x();
    pose_stamped.pose.orientation.y = q.y();
    pose_stamped.pose.orientation.z = q.z();
    pose_stamped.pose.orientation.w = q.w();

    globalPath.poses.push_back(pose_stamped);
}

/**
 * 对点云cloudIn进行变换transformIn，返回结果点云， 修改liosam, 考虑到外参的表示
 */
pcl::PointCloud<PointType>::Ptr transformPointCloud(pcl::PointCloud<PointType>::Ptr cloudIn, PointTypePose *transformIn)
{
    pcl::PointCloud<PointType>::Ptr cloudOut(new pcl::PointCloud<PointType>());

    int cloudSize = cloudIn->size();
    cloudOut->resize(cloudSize);
    
   // 注意：lio_sam 中的姿态用的euler表示，而fastlio存的姿态角是旋转矢量。而 pcl::getTransformation是将euler_angle 转换到rotation_matrix 不合适，注释
  // Eigen::Affine3f transCur = pcl::getTransformation(transformIn->x, transformIn->y, transformIn->z, transformIn->roll, transformIn->pitch, transformIn->yaw);
    Eigen::Isometry3d T_b_lidar(state_point.offset_R_L_I  );       //  获取  body2lidar  外参
    T_b_lidar.pretranslate(state_point.offset_T_L_I);        

    Eigen::Affine3f T_w_b_ = pcl::getTransformation(transformIn->x, transformIn->y, transformIn->z, transformIn->roll, transformIn->pitch, transformIn->yaw);
    Eigen::Isometry3d T_w_b ;          //   world2body  
    T_w_b.matrix() = T_w_b_.matrix().cast<double>();

    Eigen::Isometry3d  T_w_lidar  =  T_w_b * T_b_lidar  ;           //  T_w_lidar  转换矩阵

    Eigen::Isometry3d transCur = T_w_lidar;        

#pragma omp parallel for num_threads(numberOfCores)
    for (int i = 0; i < cloudSize; ++i)
    {
        const auto &pointFrom = cloudIn->points[i];
        cloudOut->points[i].x = transCur(0, 0) * pointFrom.x + transCur(0, 1) * pointFrom.y + transCur(0, 2) * pointFrom.z + transCur(0, 3);
        cloudOut->points[i].y = transCur(1, 0) * pointFrom.x + transCur(1, 1) * pointFrom.y + transCur(1, 2) * pointFrom.z + transCur(1, 3);
        cloudOut->points[i].z = transCur(2, 0) * pointFrom.x + transCur(2, 1) * pointFrom.y + transCur(2, 2) * pointFrom.z + transCur(2, 3);
        cloudOut->points[i].intensity = pointFrom.intensity;
    }
    return cloudOut;
}

/**
 * 位姿格式变换
 */
gtsam::Pose3 pclPointTogtsamPose3(PointTypePose thisPoint)
{
    return gtsam::Pose3(gtsam::Rot3::RzRyRx(double(thisPoint.roll), double(thisPoint.pitch), double(thisPoint.yaw)),
                        gtsam::Point3(double(thisPoint.x), double(thisPoint.y), double(thisPoint.z)));
}

/**
 * 位姿格式变换
 */
gtsam::Pose3 trans2gtsamPose(float transformIn[])
{
    return gtsam::Pose3(gtsam::Rot3::RzRyRx(transformIn[0], transformIn[1], transformIn[2]),
                        gtsam::Point3(transformIn[3], transformIn[4], transformIn[5]));
}

/**
 * Eigen格式的位姿变换
 */
Eigen::Affine3f pclPointToAffine3f(PointTypePose thisPoint)
{
    return pcl::getTransformation(thisPoint.x, thisPoint.y, thisPoint.z, thisPoint.roll, thisPoint.pitch, thisPoint.yaw);
}

/**
 * Eigen格式的位姿变换
 */
Eigen::Affine3f trans2Affine3f(float transformIn[])
{
    return pcl::getTransformation(transformIn[3], transformIn[4], transformIn[5], transformIn[0], transformIn[1], transformIn[2]);
}

/**
 * 位姿格式变换
 */
PointTypePose trans2PointTypePose(float transformIn[])
{
    PointTypePose thisPose6D;
    thisPose6D.x = transformIn[3];
    thisPose6D.y = transformIn[4];
    thisPose6D.z = transformIn[5];
    thisPose6D.roll = transformIn[0];
    thisPose6D.pitch = transformIn[1];
    thisPose6D.yaw = transformIn[2];
    return thisPose6D;
}

/**
 * 发布thisCloud，返回thisCloud对应msg格式
 */
sensor_msgs::PointCloud2 publishCloud(ros::Publisher *thisPub, pcl::PointCloud<PointType>::Ptr thisCloud, ros::Time thisStamp, std::string thisFrame)
{
    sensor_msgs::PointCloud2 tempCloud;
    pcl::toROSMsg(*thisCloud, tempCloud);
    tempCloud.header.stamp = thisStamp;
    tempCloud.header.frame_id = thisFrame;
    if (thisPub->getNumSubscribers() != 0)
        thisPub->publish(tempCloud);
    return tempCloud;
}

/**
 * 点到坐标系原点距离
 */
float pointDistance(PointType p)
{
    return sqrt(p.x * p.x + p.y * p.y + p.z * p.z);
}

/**
 * 两点之间距离
 */
float pointDistance(PointType p1, PointType p2)
{
    return sqrt((p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y) + (p1.z - p2.z) * (p1.z - p2.z));
}


//  eulerAngle 2 Quaterniond
Eigen::Quaterniond  EulerToQuat(float roll_, float pitch_, float yaw_)
{
    Eigen::Quaterniond q ;            //   四元数 q 和 -q 是相等的
    Eigen::AngleAxisd roll(double(roll_), Eigen::Vector3d::UnitX());
    Eigen::AngleAxisd pitch(double(pitch_), Eigen::Vector3d::UnitY());
    Eigen::AngleAxisd yaw(double(yaw_), Eigen::Vector3d::UnitZ());
    q = yaw * pitch * roll ;
    q.normalize();
    return q ;
}

// 将更新的pose赋值到 transformTobeMapped
void getCurPose(state_ikfom cur_state)
{
    //  欧拉角是没有群的性质，所以从SO3还是一般的rotation matrix 转换过来的结果一样
    Eigen::Vector3d eulerAngle = cur_state.rot.matrix().eulerAngles(2,1,0);        //  yaw pitch roll  单位：弧度
    // V3D eulerAngle  =  SO3ToEuler(cur_state.rot)/57.3 ;     //   fastlio 自带  roll pitch yaw  单位: 度，旋转顺序 zyx

    // transformTobeMapped[0] = eulerAngle(0);                //  roll     使用 SO3ToEuler 方法时，顺序是 rpy
    // transformTobeMapped[1] = eulerAngle(1);                //  pitch
    // transformTobeMapped[2] = eulerAngle(2);                //  yaw
    
    transformTobeMapped[0] = eulerAngle(2);                //  roll  使用 eulerAngles(2,1,0) 方法时，顺序是 ypr
    transformTobeMapped[1] = eulerAngle(1);                //  pitch
    transformTobeMapped[2] = eulerAngle(0);                //  yaw
    transformTobeMapped[3] = cur_state.pos(0);          //  x
    transformTobeMapped[4] = cur_state.pos(1);          //   y
    transformTobeMapped[5] = cur_state.pos(2);          // z
}

/**
 * rviz展示闭环边
 */
void visualizeLoopClosure()
{
    ros::Time timeLaserInfoStamp = ros::Time().fromSec(lidar_end_time); //  时间戳
    string odometryFrame = "camera_init";

    if (loopIndexContainer.empty())
        return;

    visualization_msgs::MarkerArray markerArray;
    // 闭环顶点
    visualization_msgs::Marker markerNode;
    markerNode.header.frame_id = odometryFrame;
    markerNode.header.stamp = timeLaserInfoStamp;
    markerNode.action = visualization_msgs::Marker::ADD;
    markerNode.type = visualization_msgs::Marker::SPHERE_LIST;
    markerNode.ns = "loop_nodes";
    markerNode.id = 0;
    markerNode.pose.orientation.w = 1;
    markerNode.scale.x = 0.3;
    markerNode.scale.y = 0.3;
    markerNode.scale.z = 0.3;
    markerNode.color.r = 0;
    markerNode.color.g = 0.8;
    markerNode.color.b = 1;
    markerNode.color.a = 1;
    // 闭环边
    visualization_msgs::Marker markerEdge;
    markerEdge.header.frame_id = odometryFrame;
    markerEdge.header.stamp = timeLaserInfoStamp;
    markerEdge.action = visualization_msgs::Marker::ADD;
    markerEdge.type = visualization_msgs::Marker::LINE_LIST;
    markerEdge.ns = "loop_edges";
    markerEdge.id = 1;
    markerEdge.pose.orientation.w = 1;
    markerEdge.scale.x = 0.1;
    markerEdge.color.r = 0.9;
    markerEdge.color.g = 0.9;
    markerEdge.color.b = 0;
    markerEdge.color.a = 1;

    // 遍历闭环
    for (auto it = loopIndexContainer.begin(); it != loopIndexContainer.end(); ++it)
    {
        int key_cur = it->first;
        int key_pre = it->second;
        geometry_msgs::Point p;
        p.x = copy_cloudKeyPoses6D->points[key_cur].x;
        p.y = copy_cloudKeyPoses6D->points[key_cur].y;
        p.z = copy_cloudKeyPoses6D->points[key_cur].z;
        markerNode.points.push_back(p);
        markerEdge.points.push_back(p);
        p.x = copy_cloudKeyPoses6D->points[key_pre].x;
        p.y = copy_cloudKeyPoses6D->points[key_pre].y;
        p.z = copy_cloudKeyPoses6D->points[key_pre].z;
        markerNode.points.push_back(p);
        markerEdge.points.push_back(p);
    }

    markerArray.markers.push_back(markerNode);
    markerArray.markers.push_back(markerEdge);
    pubLoopConstraintEdge.publish(markerArray);
}

/**
 * 计算当前帧与前一帧位姿变换，如果变化太小，不设为关键帧，反之设为关键帧
 */
bool saveFrame()
{
    if (cloudKeyPoses3D->points.empty())
        return true;

    // 前一帧位姿
    Eigen::Affine3f transStart = pclPointToAffine3f(cloudKeyPoses6D->back());
    // 当前帧位姿
    Eigen::Affine3f transFinal = trans2Affine3f(transformTobeMapped);
    // Eigen::Affine3f transFinal = pcl::getTransformation(transformTobeMapped[3], transformTobeMapped[4], transformTobeMapped[5],
    //                                                     transformTobeMapped[0], transformTobeMapped[1], transformTobeMapped[2]);
                    
    // 位姿变换增量
    Eigen::Affine3f transBetween = transStart.inverse() * transFinal;
    float x, y, z, roll, pitch, yaw;
    pcl::getTranslationAndEulerAngles(transBetween, x, y, z, roll, pitch, yaw); //  获取上一帧 相对 当前帧的 位姿

    // 旋转和平移量都较小，当前帧不设为关键帧
    if (abs(roll) < surroundingkeyframeAddingAngleThreshold &&
        abs(pitch) < surroundingkeyframeAddingAngleThreshold &&
        abs(yaw) < surroundingkeyframeAddingAngleThreshold &&
        sqrt(x * x + y * y + z * z) < surroundingkeyframeAddingDistThreshold)
        return false;
    return true;
}

/**
 * 添加激光里程计因子
 */
void addOdomFactor()
{
    if (cloudKeyPoses3D->points.empty())
    {
        // 第一帧初始化先验因子
        gtsam::noiseModel::Diagonal::shared_ptr priorNoise = gtsam::noiseModel::Diagonal::Variances((gtsam::Vector(6) <<1e-12, 1e-12, 1e-12, 1e-12, 1e-12, 1e-12).finished()); // rad*rad, meter*meter   // indoor 1e-12, 1e-12, 1e-12, 1e-12, 1e-12, 1e-12    //  1e-2, 1e-2, M_PI*M_PI, 1e8, 1e8, 1e8
        gtSAMgraph.add(gtsam::PriorFactor<gtsam::Pose3>(0, trans2gtsamPose(transformTobeMapped), priorNoise));
        // 变量节点设置初始值
        initialEstimate.insert(0, trans2gtsamPose(transformTobeMapped));
    }
    else
    {
        // 添加激光里程计因子
        gtsam::noiseModel::Diagonal::shared_ptr odometryNoise = gtsam::noiseModel::Diagonal::Variances((gtsam::Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
        gtsam::Pose3 poseFrom = pclPointTogtsamPose3(cloudKeyPoses6D->points.back()); /// pre
        gtsam::Pose3 poseTo = trans2gtsamPose(transformTobeMapped);                   // cur
        // 参数：前一帧id，当前帧id，前一帧与当前帧的位姿变换（作为观测值），噪声协方差
        gtSAMgraph.add(gtsam::BetweenFactor<gtsam::Pose3>(cloudKeyPoses3D->size() - 1, cloudKeyPoses3D->size(), poseFrom.between(poseTo), odometryNoise));
        // 变量节点设置初始值
        initialEstimate.insert(cloudKeyPoses3D->size(), poseTo);
    }
}

/**
 * 添加闭环因子
 */
void addLoopFactor()
{
    if (loopIndexQueue.empty())
        return;

    // 闭环队列
    for (int i = 0; i < (int)loopIndexQueue.size(); ++i)
    {
        // 闭环边对应两帧的索引
        int indexFrom = loopIndexQueue[i].first; //   cur
        int indexTo = loopIndexQueue[i].second;  //    pre
        // 闭环边的位姿变换
        gtsam::Pose3 poseBetween = loopPoseQueue[i];
        gtsam::noiseModel::Diagonal::shared_ptr noiseBetween = loopNoiseQueue[i];
        gtSAMgraph.add(gtsam::BetweenFactor<gtsam::Pose3>(indexFrom, indexTo, poseBetween, noiseBetween));
        printf(" Add loop factor between %d -- %d\n",indexFrom,indexTo);
    }

    loopIndexQueue.clear();
    loopPoseQueue.clear();
    loopNoiseQueue.clear();
    aLoopIsClosed = true;
}

/**
 * 提取key索引的关键帧前后相邻若干帧的关键帧特征点集合，降采样
 */
void loopFindNearKeyframes(pcl::PointCloud<PointType>::Ptr &nearKeyframes, const int &key, const int &searchNum)
{
  // 提取key索引的关键帧前后相邻若干帧的关键帧特征点集合
  nearKeyframes->clear();
  int cloudSize = copy_cloudKeyPoses6D->size();
  auto surfcloud_keyframes_size = surfCloudKeyFrames.size() ;
  for (int i = -searchNum; i <= searchNum; ++i)
  {
    int keyNear = key + i;
    if (keyNear < 0 || keyNear >= cloudSize)
      continue;

    if (keyNear < 0 || keyNear >= surfcloud_keyframes_size)
      continue;

    // *nearKeyframes += *transformPointCloud(cornerCloudKeyFrames[keyNear], &copy_cloudKeyPoses6D->points[keyNear]);
    // 注意：cloudKeyPoses6D 存储的是 T_w_b , 而点云是lidar系下的，构建icp的submap时，需要通过外参数T_b_lidar 转换 , 参考pointBodyToWorld 的转换
    *nearKeyframes += *transformPointCloud(surfCloudKeyFrames[keyNear], &copy_cloudKeyPoses6D->points[keyNear]); //  fast-lio 没有进行特征提取，默认点云就是surf
  }

  if (nearKeyframes->empty())
    return;

  // 降采样
  pcl::PointCloud<PointType>::Ptr cloud_temp(new pcl::PointCloud<PointType>());
  downSizeFilterICP.setInputCloud(nearKeyframes);
  downSizeFilterICP.filter(*cloud_temp);
  *nearKeyframes = *cloud_temp;
}

void performLoopClosure() {
  ros::Time timeLaserInfoStamp = ros::Time().fromSec(lidar_end_time); //  时间戳
  string odometryFrame = "camera_init";

  if (cloudKeyPoses3D->points.empty() == true) {
    return;
  }

  mtx.lock();
  *copy_cloudKeyPoses3D = *cloudKeyPoses3D;
  *copy_cloudKeyPoses6D = *cloudKeyPoses6D;
  mtx.unlock();

  // 当前关键帧索引，候选闭环匹配帧索引
  static int LastKeyFrameSize=0;//;
  if(LastKeyFrameSize>=surfCloudKeyFrames.size())   //没有更新的keyframe 无需检测
    return ;

  int loopKeyCur;
  int loopKeyPre;
  // 在历史关键帧中查找与当前关键帧距离最近的关键帧集合，选择时间相隔较远的一帧作为候选闭环帧
  /*if (detectLoopClosureDistance(&loopKeyCur, &loopKeyPre) == false)
  {
      return;
  }*/
  if( int(cloudKeyPoses3D->size()) < scManager.NUM_EXCLUDE_RECENT) // do not try too early
    return;

  auto detectResult = scManager.detectLoopClosureID(); // first: nn index, second: yaw diff
  LastKeyFrameSize=surfCloudKeyFrames.size();
  int SCclosestHistoryFrameID = detectResult.first;
  if( SCclosestHistoryFrameID != -1 ) {

    loopKeyPre = SCclosestHistoryFrameID;
    loopKeyCur = cloudKeyPoses3D->size() - 1; // because cpp starts 0 and ends n-1
    //cout << "Loop detected! - between " << loopKeyPre << " and " << loopKeyCur << "" << endl;

  }else{
    return;
  }

  // 提取
  pcl::PointCloud<PointType>::Ptr cureKeyframeCloud(new pcl::PointCloud<PointType>()); //  cue keyframe
  pcl::PointCloud<PointType>::Ptr prevKeyframeCloud(new pcl::PointCloud<PointType>()); //   history keyframe submap
  {
    // 提取当前关键帧特征点集合，降采样
    loopFindNearKeyframes(cureKeyframeCloud, loopKeyCur, 0); //  将cur keyframe 转换到world系下
    // 提取闭环匹配关键帧前后相邻若干帧的关键帧特征点集合，降采样
    loopFindNearKeyframes(prevKeyframeCloud, loopKeyPre,
                          historyKeyframeSearchNum); //  选取historyKeyframeSearchNum个keyframe拼成submap
    // 如果特征点较少，返回
    // if (cureKeyframeCloud->size() < 300 || prevKeyframeCloud->size() < 1000)
    //     return;
    // 发布闭环匹配关键帧局部map
    if (pubHistoryKeyFrames.getNumSubscribers() != 0)
      publishCloud(&pubHistoryKeyFrames, prevKeyframeCloud, timeLaserInfoStamp, odometryFrame);
  }

  double icp_t1 = omp_get_wtime();
  float noiseScore;
  Eigen::Affine3f correctionLidarFrame;
  float x, y, z, roll, pitch, yaw;
  /*PointTypePose current = copy_cloudKeyPoses6D->points[loopKeyCur];
  PointTypePose target = copy_cloudKeyPoses6D->points[loopKeyPre];
  gtsam::Pose3 poseSrc(gtsam::Rot3::RzRyRx(double(current.roll), double(current.pitch), double(current.yaw)),
                       gtsam::Point3(double(current.x), double(current.y), double(current.z)));
  gtsam::Pose3 poseTar(gtsam::Rot3::RzRyRx(double(target.roll), double(target.pitch), double(target.yaw)),
                       gtsam::Point3(double(target.x), double(target.y), double(target.z)));*/
  // ICP Settings
if(ndt_loop==false) {
  pcl::IterativeClosestPoint<PointType, PointType> icp;
  icp.setMaxCorrespondenceDistance(150); // giseop , use a value can cover 2*historyKeyframeSearchNum range in meter
  icp.setMaximumIterations(100);
  icp.setTransformationEpsilon(1e-6);
  icp.setEuclideanFitnessEpsilon(1e-6);
  icp.setRANSACIterations(0);

  // scan-to-map，调用icp匹配
  icp.setInputSource(cureKeyframeCloud);
  icp.setInputTarget(prevKeyframeCloud);
  pcl::PointCloud<PointType>::Ptr unused_result(new pcl::PointCloud<PointType>());
  icp.align(*unused_result);
  noiseScore =icp.getFitnessScore(); //  loop_clousre  noise from ndt
  correctionLidarFrame = icp.getFinalTransformation();
  double icp_t2 = omp_get_wtime();
  pcl::getTranslationAndEulerAngles(correctionLidarFrame, x, y, z, roll, pitch, yaw);
  if (icp.hasConverged() == false || icp.getFitnessScore() > historyKeyframeFitnessScore) {
    printf("icp failed,score:%f from %d to %d ,(%f %f %f) (%f %f %f) time:%f\n",
           icp.getFitnessScore(),loopKeyCur, loopKeyPre,x, y, z, roll, pitch, yaw,icp_t2 - icp_t1);
    return;
  }
  printf("icp success,score:%f from %d to %d ,(%f %f %f) (%f %f %f) time:%f\n",
         icp.getFitnessScore(),loopKeyCur, loopKeyPre,x, y, z, roll, pitch, yaw,icp_t2 - icp_t1);

}else {
  pcl::NormalDistributionsTransform<PointType, PointType> ndt;
  ndt.setTransformationEpsilon(0.001);
  // Setting maximum step size for More-Thuente line search.
  ndt.setStepSize(0.1);
  //Setting Resolution of NDT grid structure (VoxelGridCovariance).
  ndt.setResolution(0.5);
  // Setting max number of registration iterations.
  ndt.setMaximumIterations(50);
  // Setting point cloud to be aligned.
  ndt.setInputSource(cureKeyframeCloud);
  // Setting point cloud to be aligned to.
  ndt.setInputTarget(prevKeyframeCloud);
  pcl::PointCloud<PointType>::Ptr unused_result(new pcl::PointCloud<PointType>());
  ndt.align(*unused_result, Eigen::Matrix4f::Identity());

  double icp_t2 = omp_get_wtime();
  noiseScore =ndt.getFitnessScore(); //  loop_clousre  noise from ndt
  correctionLidarFrame = ndt.getFinalTransformation();
  pcl::getTranslationAndEulerAngles(correctionLidarFrame, x, y, z, roll, pitch, yaw);
  if (ndt.hasConverged() == false || ndt.getFitnessScore() > historyKeyframeFitnessScore) {
    printf("ndt failed,score:%f from %d to %d ,(%f %f %f) (%f %f %f) time:%f\n",
           ndt.getFitnessScore(),loopKeyCur, loopKeyPre,x, y, z, roll, pitch, yaw,icp_t2 - icp_t1);
    return;
  }
  printf("ndt success,score:%f from %d to %d ,(%f %f %f) (%f %f %f) time:%f\n",
         ndt.getFitnessScore(),loopKeyCur, loopKeyPre,x, y, z, roll, pitch, yaw,icp_t2 - icp_t1);
}

  // 发布当前关键帧经过闭环优化后的位姿变换之后的特征点云
  if (pubIcpKeyFrames.getNumSubscribers() != 0) {
    pcl::PointCloud<PointType>::Ptr closed_cloud(new pcl::PointCloud<PointType>());
    pcl::transformPointCloud(*cureKeyframeCloud, *closed_cloud, correctionLidarFrame);
    publishCloud(&pubIcpKeyFrames, closed_cloud, timeLaserInfoStamp, odometryFrame);
  }

  // 闭环优化得到的当前关键帧与闭环关键帧之间的位姿变换
  // 闭环优化前当前帧位姿
  Eigen::Affine3f tWrong = pclPointToAffine3f(copy_cloudKeyPoses6D->points[loopKeyCur]);
  // 闭环优化后当前帧位姿
  Eigen::Affine3f tCorrect = correctionLidarFrame * tWrong;
  pcl::getTranslationAndEulerAngles(tCorrect, x, y, z, roll, pitch, yaw); //  获取上一帧匹配后的位姿
  gtsam::Pose3 poseFrom = gtsam::Pose3(gtsam::Rot3::RzRyRx(roll, pitch, yaw), gtsam::Point3(x, y, z));
  // 闭环匹配帧的位姿
  gtsam::Pose3 poseTo = pclPointTogtsamPose3(copy_cloudKeyPoses6D->points[loopKeyPre]);
  gtsam::Vector Vector6(6);

  Vector6 << noiseScore, noiseScore, noiseScore, noiseScore, noiseScore, noiseScore;
  gtsam::noiseModel::Diagonal::shared_ptr constraintNoise = gtsam::noiseModel::Diagonal::Variances(Vector6);
  std::cout << "loopNoiseQueue   =   " << noiseScore << std::endl;

  // 添加闭环因子需要的数据
  mtx.lock();
  loopIndexQueue.push_back(make_pair(loopKeyCur, loopKeyPre));
  loopPoseQueue.push_back(poseFrom.between(poseTo));
  loopNoiseQueue.push_back(constraintNoise);
  mtx.unlock();

  loopIndexContainer[loopKeyCur] = loopKeyPre; //   使用hash map 存储回环对

}
void saveKeyFramesAndFactor()
{
    //  计算当前帧与前一帧位姿变换，如果变化太小，不设为关键帧，反之设为关键帧
    if (saveFrame() == false)
        return;

    // 激光里程计因子(from fast-lio),  输入的是frame_relative pose  帧间位姿(body 系下)
    addOdomFactor();
  scManager.makeAndSaveScancontextAndKeys(*feats_undistort);
  performLoopClosure();   //闭环检测
  visualizeLoopClosure();//展示闭环边
    // 闭环因子 (rs-loop-detect)  基于欧氏距离的检测
    addLoopFactor();
    // 执行优化
    isam->update(gtSAMgraph, initialEstimate);
    isam->update();
    if (aLoopIsClosed == true) // 有回环因子，多update几次
    {
        isam->update();
        isam->update();
        isam->update();
        isam->update();
        isam->update();
        printf(" isam update \n");
    }
    // update之后要清空一下保存的因子图，注：历史数据不会清掉，ISAM保存起来了
    gtSAMgraph.resize(0);
    initialEstimate.clear();

    PointType thisPose3D;
    PointTypePose thisPose6D;
    gtsam::Pose3 latestEstimate;

    // 优化结果
    isamCurrentEstimate = isam->calculateBestEstimate();
    // 当前帧位姿结果
    latestEstimate = isamCurrentEstimate.at<gtsam::Pose3>(isamCurrentEstimate.size() - 1);

    // cloudKeyPoses3D加入当前帧位置
    thisPose3D.x = latestEstimate.translation().x();
    thisPose3D.y = latestEstimate.translation().y();
    thisPose3D.z = latestEstimate.translation().z();
    // 索引
    thisPose3D.intensity = cloudKeyPoses3D->size(); //  使用intensity作为该帧点云的index
    cloudKeyPoses3D->push_back(thisPose3D);         //  新关键帧帧放入队列中


    // cloudKeyPoses6D加入当前帧位姿
    thisPose6D.x = thisPose3D.x;
    thisPose6D.y = thisPose3D.y;
    thisPose6D.z = thisPose3D.z;
    thisPose6D.intensity = thisPose3D.intensity;
    thisPose6D.roll = latestEstimate.rotation().roll();
    thisPose6D.pitch = latestEstimate.rotation().pitch();
    thisPose6D.yaw = latestEstimate.rotation().yaw();
    thisPose6D.time = lidar_end_time;
    cloudKeyPoses6D->push_back(thisPose6D);

    // 位姿协方差
    poseCovariance = isam->marginalCovariance(isamCurrentEstimate.size() - 1);

    // ESKF状态和方差  更新
    state_ikfom state_updated = ikfom_.get_x(); //  获取cur_pose (还没修正)
    Eigen::Vector3d pos(latestEstimate.translation().x(), latestEstimate.translation().y(), latestEstimate.translation().z());
    Eigen::Quaterniond q = EulerToQuat(latestEstimate.rotation().roll(), latestEstimate.rotation().pitch(), latestEstimate.rotation().yaw());

    //  更新状态量
    state_updated.pos = pos;
    state_updated.rot =  q;
    state_point = state_updated; // 对state_point进行更新，state_point可视化用到
    // if(aLoopIsClosed == true )
  ikfom_.change_x(state_updated);  //  对cur_pose 进行isam2优化后的修正

    // TODO:  P的修正有待考察，按照yanliangwang的做法，修改了p，会跑飞
    // esekfom::esekf<state_ikfom, 12, input_ikfom>::cov P_updated = kf.get_P(); // 获取当前的状态估计的协方差矩阵
    // P_updated.setIdentity();
    // P_updated(6, 6) = P_updated(7, 7) = P_updated(8, 8) = 0.00001;
    // P_updated(9, 9) = P_updated(10, 10) = P_updated(11, 11) = 0.00001;
    // P_updated(15, 15) = P_updated(16, 16) = P_updated(17, 17) = 0.0001;
    // P_updated(18, 18) = P_updated(19, 19) = P_updated(20, 20) = 0.001;
    // P_updated(21, 21) = P_updated(22, 22) = 0.00001;
    // kf.change_P(P_updated);

    // 当前帧激光角点、平面点，降采样集合
    // pcl::PointCloud<PointType>::Ptr thisCornerKeyFrame(new pcl::PointCloud<PointType>());
    pcl::PointCloud<PointType>::Ptr thisSurfKeyFrame(new pcl::PointCloud<PointType>());
    // pcl::copyPointCloud(*feats_undistort,  *thisCornerKeyFrame);
    pcl::copyPointCloud(*feats_undistort, *thisSurfKeyFrame); // 存储关键帧,没有降采样的点云

    // 保存特征点降采样集合
    // cornerCloudKeyFrames.push_back(thisCornerKeyFrame);
    surfCloudKeyFrames.push_back(thisSurfKeyFrame);

    //sc关键帧保存降采样的点云
  /*pcl::PointCloud<PointType>::Ptr cloud_temp(new pcl::PointCloud<PointType>());
  downSizeFilterICP.setInputCloud(thisSurfKeyFrame);
  downSizeFilterICP.filter(*cloud_temp);*/


    updatePath(thisPose6D); //  可视化update后的path
}

void recontructIKdTree(){
    if(recontructKdTree  &&  updateKdtreeCount >  0){
        /*** if path is too large, the rvis will crash ***/
        pcl::KdTreeFLANN<PointType>::Ptr kdtreeGlobalMapPoses(new pcl::KdTreeFLANN<PointType>());
        pcl::PointCloud<PointType>::Ptr subMapKeyPoses(new pcl::PointCloud<PointType>());
        pcl::PointCloud<PointType>::Ptr subMapKeyPosesDS(new pcl::PointCloud<PointType>());
        pcl::PointCloud<PointType>::Ptr subMapKeyFrames(new pcl::PointCloud<PointType>());
        pcl::PointCloud<PointType>::Ptr subMapKeyFramesDS(new pcl::PointCloud<PointType>());

        // kdtree查找最近一帧关键帧相邻的关键帧集合
        std::vector<int> pointSearchIndGlobalMap;
        std::vector<float> pointSearchSqDisGlobalMap;
        mtx.lock();
        kdtreeGlobalMapPoses->setInputCloud(cloudKeyPoses3D);
        kdtreeGlobalMapPoses->radiusSearch(cloudKeyPoses3D->back(), globalMapVisualizationSearchRadius, pointSearchIndGlobalMap, pointSearchSqDisGlobalMap, 0);
        mtx.unlock();

        for (int i = 0; i < (int)pointSearchIndGlobalMap.size(); ++i)
            subMapKeyPoses->push_back(cloudKeyPoses3D->points[pointSearchIndGlobalMap[i]]);     //  subMap的pose集合
        // 降采样
        pcl::VoxelGrid<PointType> downSizeFilterSubMapKeyPoses;
        downSizeFilterSubMapKeyPoses.setLeafSize(globalMapVisualizationPoseDensity, globalMapVisualizationPoseDensity, globalMapVisualizationPoseDensity); // for global map visualization
        downSizeFilterSubMapKeyPoses.setInputCloud(subMapKeyPoses);
        downSizeFilterSubMapKeyPoses.filter(*subMapKeyPosesDS);         //  subMap poses  downsample
        // 提取局部相邻关键帧对应的特征点云
        for (int i = 0; i < (int)subMapKeyPosesDS->size(); ++i)
        {
            // 距离过大
            if (pointDistance(subMapKeyPosesDS->points[i], cloudKeyPoses3D->back()) > globalMapVisualizationSearchRadius)
                    continue;
            int thisKeyInd = (int)subMapKeyPosesDS->points[i].intensity;
            // *globalMapKeyFrames += *transformPointCloud(cornerCloudKeyFrames[thisKeyInd],  &cloudKeyPoses6D->points[thisKeyInd]);
            *subMapKeyFrames += *transformPointCloud(surfCloudKeyFrames[thisKeyInd], &cloudKeyPoses6D->points[thisKeyInd]); //  fast_lio only use  surfCloud
        }
        // 降采样，发布
        pcl::VoxelGrid<PointType> downSizeFilterGlobalMapKeyFrames;                                                                                   // for global map visualization
        downSizeFilterGlobalMapKeyFrames.setLeafSize(globalMapVisualizationLeafSize, globalMapVisualizationLeafSize, globalMapVisualizationLeafSize); // for global map visualization
        downSizeFilterGlobalMapKeyFrames.setInputCloud(subMapKeyFrames);
        downSizeFilterGlobalMapKeyFrames.filter(*subMapKeyFramesDS);

        std::cout << "subMapKeyFramesDS sizes  =  "   << subMapKeyFramesDS->points.size()  << std::endl;
        
        ikdtree.reconstruct(subMapKeyFramesDS->points);
        updateKdtreeCount = 0;
        ROS_INFO("Reconstructed  ikdtree ");
        int featsFromMapNum = ikdtree.validnum();
        kdtree_size_st = ikdtree.size();
        std::cout << "featsFromMapNum  =  "   << featsFromMapNum   <<  "\t" << " kdtree_size_st   =  "  <<  kdtree_size_st  << std::endl;
    }
        updateKdtreeCount ++ ; 
}

/**
 * 更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿，更新里程计轨迹
 */
void correctPoses()
{
    if (cloudKeyPoses3D->points.empty())
        return;

    if (aLoopIsClosed == true)
    {
        // 清空里程计轨迹
        globalPath.poses.clear();
        // 更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿
        int numPoses = isamCurrentEstimate.size();
        for (int i = 0; i < numPoses; ++i)
        {
            cloudKeyPoses3D->points[i].x = isamCurrentEstimate.at<gtsam::Pose3>(i).translation().x();
            cloudKeyPoses3D->points[i].y = isamCurrentEstimate.at<gtsam::Pose3>(i).translation().y();
            cloudKeyPoses3D->points[i].z = isamCurrentEstimate.at<gtsam::Pose3>(i).translation().z();

            cloudKeyPoses6D->points[i].x = cloudKeyPoses3D->points[i].x;
            cloudKeyPoses6D->points[i].y = cloudKeyPoses3D->points[i].y;
            cloudKeyPoses6D->points[i].z = cloudKeyPoses3D->points[i].z;
            cloudKeyPoses6D->points[i].roll = isamCurrentEstimate.at<gtsam::Pose3>(i).rotation().roll();
            cloudKeyPoses6D->points[i].pitch = isamCurrentEstimate.at<gtsam::Pose3>(i).rotation().pitch();
            cloudKeyPoses6D->points[i].yaw = isamCurrentEstimate.at<gtsam::Pose3>(i).rotation().yaw();

            // 更新里程计轨迹
            updatePath(cloudKeyPoses6D->points[i]);
        }
        // 清空局部map， reconstruct  ikdtree submap
        recontructIKdTree();
        ROS_INFO("ISMA2 Update");
        aLoopIsClosed = false;
    }
}

//回环检测三大要素
// 1.设置最小时间差，太近没必要
// 2.控制回环的频率，避免频繁检测，每检测一次，就做一次等待
// 3.根据当前最小距离重新计算等待时间
bool detectLoopClosureDistance(int *latestID, int *closestID)
{
    // 当前关键帧帧
    int loopKeyCur = copy_cloudKeyPoses3D->size() - 1; //  当前关键帧索引
    int loopKeyPre = -1;

    // 当前帧已经添加过闭环对应关系，不再继续添加
    auto it = loopIndexContainer.find(loopKeyCur);
    if (it != loopIndexContainer.end())
        return false;
    // 在历史关键帧中查找与当前关键帧距离最近的关键帧集合
    std::vector<int> pointSearchIndLoop;                        //  候选关键帧索引
    std::vector<float> pointSearchSqDisLoop;                    //  候选关键帧距离
    kdtreeHistoryKeyPoses->setInputCloud(copy_cloudKeyPoses3D); //  历史帧构建kdtree
    kdtreeHistoryKeyPoses->radiusSearch(copy_cloudKeyPoses3D->back(), historyKeyframeSearchRadius, pointSearchIndLoop, pointSearchSqDisLoop, 0);
    // 在候选关键帧集合中，找到与当前帧时间相隔较远的帧，设为候选匹配帧
    for (int i = 0; i < (int)pointSearchIndLoop.size(); ++i)
    {
        int id = pointSearchIndLoop[i];
        if (abs(copy_cloudKeyPoses6D->points[id].time - lidar_end_time) > historyKeyframeSearchTimeDiff)
        {
            loopKeyPre = id;
            break;
        }
    }
    if (loopKeyPre == -1 || loopKeyCur == loopKeyPre)
        return false;
    *latestID = loopKeyCur;
    *closestID = loopKeyPre;

    ROS_INFO("Find loop clousre frame ");
    return true;
}





//回环检测线程
void loopClosureThread()
{
    /*if (loopClosureEnableFlag == false)
    {
        std::cout << "loopClosureEnableFlag   ==  false " << endl;
        return;
    }

    ros::Rate rate(loopClosureFrequency); //   回环频率
    while (ros::ok() && startFlag)
    {
        rate.sleep();
        performLoopClosure();   //  回环检测
        visualizeLoopClosure(); // rviz展示闭环边
    }*/
}

void SigHandle(int sig)
{
    flg_exit = true;
    ROS_WARN("catch sig %d", sig);
    sig_buffer.notify_all();
}

inline void dump_lio_state_to_log(FILE *fp)
{
    V3D rot_ang(Log(state_point.rot.toRotationMatrix()));
    fprintf(fp, "%lf ", Measures.lidar_beg_time - first_lidar_time);
    fprintf(fp, "%lf %lf %lf ", rot_ang(0), rot_ang(1), rot_ang(2));                            // Angle
    fprintf(fp, "%lf %lf %lf ", state_point.pos(0), state_point.pos(1), state_point.pos(2));    // Pos
    fprintf(fp, "%lf %lf %lf ", 0.0, 0.0, 0.0);                                                 // omega
    fprintf(fp, "%lf %lf %lf ", state_point.vel(0), state_point.vel(1), state_point.vel(2));    // Vel
    fprintf(fp, "%lf %lf %lf ", 0.0, 0.0, 0.0);                                                 // Acc
    fprintf(fp, "%lf %lf %lf ", state_point.bg(0), state_point.bg(1), state_point.bg(2));       // Bias_g
    fprintf(fp, "%lf %lf %lf ", state_point.ba(0), state_point.ba(1), state_point.ba(2));       // Bias_a
    fprintf(fp, "%lf %lf %lf ", state_point.grav[0], state_point.grav[1], state_point.grav[2]); // Bias_a
    fprintf(fp, "\r\n");
    fflush(fp);
}

void pointBodyToWorld_ikfom(PointType const *const pi, PointType *const po, state_ikfom &s)
{
    V3D p_body(pi->x, pi->y, pi->z);
    V3D p_global(s.rot * (s.offset_R_L_I * p_body + s.offset_T_L_I) + s.pos);

    po->x = p_global(0);
    po->y = p_global(1);
    po->z = p_global(2);
    po->intensity = pi->intensity;
}

//按当前body(lidar)的状态，将局部点转换到世界系下
void pointBodyToWorld(PointType const *const pi, PointType *const po)
{
    V3D p_body(pi->x, pi->y, pi->z);
    // world <-- imu <-- lidar
    V3D p_global(state_point.rot * (state_point.offset_R_L_I * p_body + state_point.offset_T_L_I) + state_point.pos);

    po->x = p_global(0);
    po->y = p_global(1);
    po->z = p_global(2);
    po->intensity = pi->intensity;
}

template <typename T>
void pointBodyToWorld(const Matrix<T, 3, 1> &pi, Matrix<T, 3, 1> &po)
{
    V3D p_body(pi[0], pi[1], pi[2]);
    V3D p_global(state_point.rot * (state_point.offset_R_L_I * p_body + state_point.offset_T_L_I) + state_point.pos);

    po[0] = p_global(0);
    po[1] = p_global(1);
    po[2] = p_global(2);
}

void RGBpointBodyToWorld(PointType const *const pi, PointType *const po)        //  lidar2world
{
    V3D p_body(pi->x, pi->y, pi->z);
    V3D p_global(state_point.rot * (state_point.offset_R_L_I * p_body + state_point.offset_T_L_I) + state_point.pos);

    po->x = p_global(0);
    po->y = p_global(1);
    po->z = p_global(2);
    po->intensity = pi->intensity;
}

void test_RGBpointBodyToWorld(PointType const *const pi, PointType *const po,Eigen::Vector3d pos, Eigen::Matrix3d rotation)        //  lidar2world
{
    V3D p_body(pi->x, pi->y, pi->z);
    V3D p_global(rotation * (state_point.offset_R_L_I * p_body + state_point.offset_T_L_I) + pos);

    po->x = p_global(0);
    po->y = p_global(1);
    po->z = p_global(2);
    po->intensity = pi->intensity;
}

void RGBpointBodyLidarToIMU(PointType const *const pi, PointType *const po)
{
    V3D p_body_lidar(pi->x, pi->y, pi->z);
    V3D p_body_imu(state_point.offset_R_L_I * p_body_lidar + state_point.offset_T_L_I);

    po->x = p_body_imu(0);
    po->y = p_body_imu(1);
    po->z = p_body_imu(2);
    po->intensity = pi->intensity;
}

void points_cache_collect()
{
    PointVector points_history;
    ikdtree.acquire_removed_points(points_history);
    for (int i = 0; i < points_history.size(); i++)
        _featsArray->push_back(points_history[i]);
}

//根据lidar的FoV分割场景
BoxPointType LocalMap_Points; // ikd-tree中,局部地图的包围盒角点
bool Localmap_Initialized = false;
void lasermap_fov_segment()
{
    cub_needrm.clear(); // 清空需要移除的区域
    kdtree_delete_counter = 0;
    kdtree_delete_time = 0.0;
    pointBodyToWorld(XAxisPoint_body, XAxisPoint_world); // X轴分界点转换到w系下
    V3D pos_LiD = pos_lid;                               // global系lidar位置

    //初始化局部地图包围盒角点，以为w系下lidar位置为中心
    if (!Localmap_Initialized)
    {
        for (int i = 0; i < 3; i++)
        {
            LocalMap_Points.vertex_min[i] = pos_LiD(i) - cube_len / 2.0;
            LocalMap_Points.vertex_max[i] = pos_LiD(i) + cube_len / 2.0;
        }
        Localmap_Initialized = true;
        return;
    }

    float dist_to_map_edge[3][2]; //各个方向与局部地图边界的距离
    bool need_move = false;
    for (int i = 0; i < 3; i++)
    {
        dist_to_map_edge[i][0] = fabs(pos_LiD(i) - LocalMap_Points.vertex_min[i]);
        dist_to_map_edge[i][1] = fabs(pos_LiD(i) - LocalMap_Points.vertex_max[i]);

        //与某个方向上的边界距离太小，标记需要移除need_move
        if (dist_to_map_edge[i][0] <= MOV_THRESHOLD * DET_RANGE || dist_to_map_edge[i][1] <= MOV_THRESHOLD * DET_RANGE)
            need_move = true;
    }

    //不需要移除则直接返回
    if (!need_move)
        return;

    BoxPointType New_LocalMap_Points, tmp_boxpoints;
    New_LocalMap_Points = LocalMap_Points; // 新的局部地图角点
    float mov_dist = max((cube_len - 2.0 * MOV_THRESHOLD * DET_RANGE) * 0.5 * 0.9, double(DET_RANGE * (MOV_THRESHOLD - 1)));
    for (int i = 0; i < 3; i++)
    {
        tmp_boxpoints = LocalMap_Points;
        //与包围盒最小值角点距离
        if (dist_to_map_edge[i][0] <= MOV_THRESHOLD * DET_RANGE)
        {
            New_LocalMap_Points.vertex_max[i] -= mov_dist;
            New_LocalMap_Points.vertex_min[i] -= mov_dist;
            tmp_boxpoints.vertex_min[i] = LocalMap_Points.vertex_max[i] - mov_dist;
            cub_needrm.push_back(tmp_boxpoints); // 移除较远包围盒
        }
        else if (dist_to_map_edge[i][1] <= MOV_THRESHOLD * DET_RANGE)
        {
            New_LocalMap_Points.vertex_max[i] += mov_dist;
            New_LocalMap_Points.vertex_min[i] += mov_dist;
            tmp_boxpoints.vertex_max[i] = LocalMap_Points.vertex_min[i] + mov_dist;
            cub_needrm.push_back(tmp_boxpoints);
        }
    }
    LocalMap_Points = New_LocalMap_Points;

    points_cache_collect();
    double delete_begin = omp_get_wtime();
    if (cub_needrm.size() > 0)
        kdtree_delete_counter = ikdtree.Delete_Point_Boxes(cub_needrm);
    kdtree_delete_time = omp_get_wtime() - delete_begin;
}

void standard_pcl_cbk(const sensor_msgs::PointCloud2::ConstPtr &msg)
{
    mtx_buffer.lock();
    scan_count++;
    double preprocess_start_time = omp_get_wtime();
    if (msg->header.stamp.toSec() < last_timestamp_lidar)
    {
        ROS_ERROR("lidar loop back, clear buffer");
        lidar_buffer.clear();
    }

    PointCloudXYZI::Ptr ptr(new PointCloudXYZI());
    p_pre->process(msg, ptr);
    lidar_buffer.push_back(ptr);
    time_buffer.push_back(msg->header.stamp.toSec());
    last_timestamp_lidar = msg->header.stamp.toSec();
    s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time;
    mtx_buffer.unlock();
    sig_buffer.notify_all();
}

double timediff_lidar_wrt_imu = 0.0;
bool timediff_set_flg = false; // 标记是否已经进行了时间补偿
void livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg)
{
    mtx_buffer.lock();
    double preprocess_start_time = omp_get_wtime();
    scan_count++;
    if (msg->header.stamp.toSec() < last_timestamp_lidar)
    {
        ROS_ERROR("lidar loop back, clear buffer");
        lidar_buffer.clear();
    }
    last_timestamp_lidar = msg->header.stamp.toSec();

    if (!time_sync_en && abs(last_timestamp_imu - last_timestamp_lidar) > 10.0 && !imu_buffer.empty() && !lidar_buffer.empty())
    {
        printf("IMU and LiDAR not Synced, IMU time: %lf, lidar header time: %lf \n", last_timestamp_imu, last_timestamp_lidar);
    }

    if (time_sync_en && !timediff_set_flg && abs(last_timestamp_lidar - last_timestamp_imu) > 1 && !imu_buffer.empty())
    {
        timediff_set_flg = true;
        timediff_lidar_wrt_imu = last_timestamp_lidar + 0.1 - last_timestamp_imu; //????
        printf("Self sync IMU and LiDAR, time diff is %.10lf \n", timediff_lidar_wrt_imu);
    }

    PointCloudXYZI::Ptr ptr(new PointCloudXYZI());

    // 特征提取或间隔采样
    p_pre->process(msg, ptr);
    lidar_buffer.push_back(ptr); //储存处理后的lidar特征
    time_buffer.push_back(last_timestamp_lidar);

    s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time;
    mtx_buffer.unlock();
    sig_buffer.notify_all();
}

void imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in)
{
    publish_count++;
    // cout<<"IMU got at: "<<msg_in->header.stamp.toSec()<<endl;
    sensor_msgs::Imu::Ptr msg(new sensor_msgs::Imu(*msg_in));

    // lidar 和 imu时间差过大，且开启 时间同步, 纠正当前输入imu的时间
    if (abs(timediff_lidar_wrt_imu) > 0.1 && time_sync_en)
    {
        // 对输入imu时间，纠正为 时间差 + 原始时间
        msg->header.stamp =
            ros::Time().fromSec(timediff_lidar_wrt_imu + msg_in->header.stamp.toSec());
    }

    double timestamp = msg->header.stamp.toSec();

    mtx_buffer.lock();

    if (timestamp < last_timestamp_imu)
    {
        ROS_WARN("imu loop back, clear buffer");
        imu_buffer.clear();
    }

    last_timestamp_imu = timestamp; // update imu time

    imu_buffer.push_back(msg);
    mtx_buffer.unlock();
    sig_buffer.notify_all();
}

double lidar_mean_scantime = 0.0;
int scan_num = 0;
bool sync_packages(MeasureGroup &meas)
{
    if (lidar_buffer.empty() || imu_buffer.empty())
    {
        return false;
    }

    /*** push a lidar scan ***/
    if (!lidar_pushed)
    {
        meas.lidar = lidar_buffer.front();         // lidar指针指向最旧的lidar数据
        meas.lidar_beg_time = time_buffer.front(); //记录最早时间

        //更新结束时刻的时间
        if (meas.lidar->points.size() <= 1) // time too little 时间太短，点数不足
        {
            lidar_end_time = meas.lidar_beg_time + lidar_mean_scantime; // 记录lidar结束时间为 起始时间 + 单帧扫描时间
            ROS_WARN("Too few input point cloud!\n");
        }
        else if (meas.lidar->points.back().curvature / double(1000) < 0.5 * lidar_mean_scantime) //最后一个点的时间 小于 单帧扫描时间的一半
        {
            lidar_end_time = meas.lidar_beg_time + lidar_mean_scantime; // 记录lidar结束时间为 起始时间 + 单帧扫描时间
        }
        else
        {
            scan_num++;
            lidar_end_time = meas.lidar_beg_time + meas.lidar->points.back().curvature / double(1000); //结束时间设置为 起始时间 + 最后一个点的时间（相对）
            // 动态更新每帧lidar数据平均扫描时间
            lidar_mean_scantime += (meas.lidar->points.back().curvature / double(1000) - lidar_mean_scantime) / scan_num;
        }

        meas.lidar_end_time = lidar_end_time;

        lidar_pushed = true;
    }

    if (last_timestamp_imu < lidar_end_time)
    {
        return false;
    }

    /*** push imu data, and pop from imu buffer ***/
    double imu_time = imu_buffer.front()->header.stamp.toSec(); // 最旧IMU时间
    meas.imu.clear();
    while ((!imu_buffer.empty()) && (imu_time < lidar_end_time)) //记录imu数据，imu时间小于当前帧lidar结束时间
    {
        imu_time = imu_buffer.front()->header.stamp.toSec();
        if (imu_time > lidar_end_time)
            break;
        meas.imu.push_back(imu_buffer.front()); //记录当前lidar帧内的imu数据到meas.imu
        imu_buffer.pop_front();
    }

    lidar_buffer.pop_front();
    time_buffer.pop_front();
    lidar_pushed = false;
    return true;
}

int process_increments = 0;
void map_incremental()
{
    PointVector PointToAdd;            //需要加入到ikd-tree中的点云
    PointVector PointNoNeedDownsample; //加入ikd-tree时，不需要降采样的点云
    PointToAdd.reserve(feats_down_size);
    PointNoNeedDownsample.reserve(feats_down_size);

    //根据点与所在包围盒中心点的距离，分类是否需要降采样
    for (int i = 0; i < feats_down_size; i++)
    {
        /* transform to world frame */
        pointBodyToWorld(&(feats_down_body->points[i]), &(feats_down_world->points[i]));
        /* decide if need add to map */
        if (!Nearest_Points[i].empty() && flg_EKF_inited)
        {
            const PointVector &points_near = Nearest_Points[i];
            bool need_add = true;
            BoxPointType Box_of_Point;
            PointType downsample_result, mid_point;
            mid_point.x = floor(feats_down_world->points[i].x / filter_size_map_min) * filter_size_map_min + 0.5 * filter_size_map_min;
            mid_point.y = floor(feats_down_world->points[i].y / filter_size_map_min) * filter_size_map_min + 0.5 * filter_size_map_min;
            mid_point.z = floor(feats_down_world->points[i].z / filter_size_map_min) * filter_size_map_min + 0.5 * filter_size_map_min;
            float dist = calc_dist(feats_down_world->points[i], mid_point); //当前点与box中心的距离

            //判断最近点在x、y、z三个方向上，与中心的距离，判断是否加入时需要降采样
            if (fabs(points_near[0].x - mid_point.x) > 0.5 * filter_size_map_min && fabs(points_near[0].y - mid_point.y) > 0.5 * filter_size_map_min && fabs(points_near[0].z - mid_point.z) > 0.5 * filter_size_map_min)
            {
                PointNoNeedDownsample.push_back(feats_down_world->points[i]); //若三个方向距离都大于地图珊格半轴长，无需降采样
                continue;
            }

            //判断当前点的 NUM_MATCH_POINTS 个邻近点与包围盒中心的范围
            for (int readd_i = 0; readd_i < NUM_MATCH_POINTS; readd_i++)
            {
                if (points_near.size() < NUM_MATCH_POINTS)
                    break;
                if (calc_dist(points_near[readd_i], mid_point) < dist) // 如果邻近点到中心的距离 小于 当前点到中心的距离，则不需要添加当前点
                {
                    need_add = false;
                    break;
                }
            }
            if (need_add)
                PointToAdd.push_back(feats_down_world->points[i]);
        }
        else
        {
            PointToAdd.push_back(feats_down_world->points[i]);
        }
    }

    double st_time = omp_get_wtime();
    add_point_size = ikdtree.Add_Points(PointToAdd, true); //加入点时需要降采样
    ikdtree.Add_Points(PointNoNeedDownsample, false);      //加入点时不需要降采样
    add_point_size = PointToAdd.size() + PointNoNeedDownsample.size();
    kdtree_incremental_time = omp_get_wtime() - st_time;
}

PointCloudXYZI::Ptr pcl_wait_pub(new PointCloudXYZI(500000, 1));
PointCloudXYZI::Ptr pcl_wait_save(new PointCloudXYZI());
void publish_frame_world(const ros::Publisher &pubLaserCloudFull)         //    将稠密点云从 imu convert to  world
{
    if (scan_pub_en)
    {
        PointCloudXYZI::Ptr laserCloudFullRes(dense_pub_en ? feats_undistort : feats_down_body);
        int size = laserCloudFullRes->points.size();
        PointCloudXYZI::Ptr laserCloudWorld(
            new PointCloudXYZI(size, 1));

        for (int i = 0; i < size; i++)
        {
            RGBpointBodyToWorld(&laserCloudFullRes->points[i],
                                &laserCloudWorld->points[i]);
        }

        sensor_msgs::PointCloud2 laserCloudmsg;
        pcl::toROSMsg(*laserCloudWorld, laserCloudmsg);
        laserCloudmsg.header.stamp = ros::Time().fromSec(lidar_end_time);
        laserCloudmsg.header.frame_id = "camera_init";
        pubLaserCloudFull.publish(laserCloudmsg);
        publish_count -= PUBFRAME_PERIOD;
    }

    /**************** save map ****************/
    /* 1. make sure you have enough memories
    /* 2. noted that pcd save will influence the real-time performences **/
    if (pcd_save_en)
    {
        int size = feats_undistort->points.size();
        PointCloudXYZI::Ptr laserCloudWorld(
            new PointCloudXYZI(size, 1));

        for (int i = 0; i < size; i++)
        {
            RGBpointBodyToWorld(&feats_undistort->points[i],
                                &laserCloudWorld->points[i]);
        }
        *pcl_wait_save += *laserCloudWorld;

        static int scan_wait_num = 0;
        scan_wait_num++;
        if (pcl_wait_save->size() > 0 && pcd_save_interval > 0 && scan_wait_num >= pcd_save_interval)
        {
            pcd_index++;
            string all_points_dir(string(string(ROOT_DIR) + "PCD/scans_") + to_string(pcd_index) + string(".pcd"));
            pcl::PCDWriter pcd_writer;
            cout << "current scan saved to /PCD/" << all_points_dir << endl;
            pcd_writer.writeBinary(all_points_dir, *pcl_wait_save);
            pcl_wait_save->clear();
            scan_wait_num = 0;
        }
    }
}

void publish_frame_body(const ros::Publisher &pubLaserCloudFull_body)          //   发布body系(imu)下的点云
{
    int size = feats_undistort->points.size();
    PointCloudXYZI::Ptr laserCloudIMUBody(new PointCloudXYZI(size, 1));

    for (int i = 0; i < size; i++)
    {
        RGBpointBodyLidarToIMU(&feats_undistort->points[i],
                               &laserCloudIMUBody->points[i]);
    }

    sensor_msgs::PointCloud2 laserCloudmsg;
    pcl::toROSMsg(*laserCloudIMUBody, laserCloudmsg);
    laserCloudmsg.header.stamp = ros::Time().fromSec(lidar_end_time);
    laserCloudmsg.header.frame_id = "body";
    pubLaserCloudFull_body.publish(laserCloudmsg);
    publish_count -= PUBFRAME_PERIOD;
}

void publish_effect_world(const ros::Publisher &pubLaserCloudEffect)
{
    PointCloudXYZI::Ptr laserCloudWorld(
        new PointCloudXYZI(effct_feat_num, 1));
    for (int i = 0; i < effct_feat_num; i++)
    {
        RGBpointBodyToWorld(&laserCloudOri->points[i],
                            &laserCloudWorld->points[i]);
    }
    sensor_msgs::PointCloud2 laserCloudFullRes3;
    pcl::toROSMsg(*laserCloudWorld, laserCloudFullRes3);
    laserCloudFullRes3.header.stamp = ros::Time().fromSec(lidar_end_time);
    laserCloudFullRes3.header.frame_id = "camera_init";
    pubLaserCloudEffect.publish(laserCloudFullRes3);
}

void publish_map(const ros::Publisher &pubLaserCloudMap)
{
    sensor_msgs::PointCloud2 laserCloudMap;
    pcl::toROSMsg(*featsFromMap, laserCloudMap);
    laserCloudMap.header.stamp = ros::Time().fromSec(lidar_end_time);
    laserCloudMap.header.frame_id = "camera_init";
    pubLaserCloudMap.publish(laserCloudMap);
}

template <typename T>
void set_posestamp(T &out)
{
    out.pose.position.x = state_point.pos(0);
    out.pose.position.y = state_point.pos(1);
    out.pose.position.z = state_point.pos(2);
    out.pose.orientation.x = geoQuat.x;
    out.pose.orientation.y = geoQuat.y;
    out.pose.orientation.z = geoQuat.z;
    out.pose.orientation.w = geoQuat.w;
}

void publish_odometry(const ros::Publisher &pubOdomAftMapped)
{
    odomAftMapped.header.frame_id = "camera_init";
    odomAftMapped.child_frame_id = "body";
    odomAftMapped.header.stamp = ros::Time().fromSec(lidar_end_time); // ros::Time().fromSec(lidar_end_time);
    set_posestamp(odomAftMapped.pose);
    pubOdomAftMapped.publish(odomAftMapped);
    auto P = ikfom_.get_P();
    for (int i = 0; i < 6; i++)
    {
        int k = i < 3 ? i + 3 : i - 3;
        odomAftMapped.pose.covariance[i * 6 + 0] = P(k, 3);
        odomAftMapped.pose.covariance[i * 6 + 1] = P(k, 4);
        odomAftMapped.pose.covariance[i * 6 + 2] = P(k, 5);
        odomAftMapped.pose.covariance[i * 6 + 3] = P(k, 0);
        odomAftMapped.pose.covariance[i * 6 + 4] = P(k, 1);
        odomAftMapped.pose.covariance[i * 6 + 5] = P(k, 2);
    }

    static tf::TransformBroadcaster br;
    tf::Transform transform;
    tf::Quaternion q;
    transform.setOrigin(tf::Vector3(odomAftMapped.pose.pose.position.x,
                                    odomAftMapped.pose.pose.position.y,
                                    odomAftMapped.pose.pose.position.z));
    q.setW(odomAftMapped.pose.pose.orientation.w);
    q.setX(odomAftMapped.pose.pose.orientation.x);
    q.setY(odomAftMapped.pose.pose.orientation.y);
    q.setZ(odomAftMapped.pose.pose.orientation.z);
    transform.setRotation(q);
    br.sendTransform(tf::StampedTransform(transform, odomAftMapped.header.stamp, "camera_init", "body"));
}

void publish_path(const ros::Publisher pubPath)
{
    set_posestamp(msg_body_pose);
    msg_body_pose.header.stamp = ros::Time().fromSec(lidar_end_time);
    msg_body_pose.header.frame_id = "camera_init";

    /*** if path is too large, the rvis will crash ***/
    static int jjj = 0;
    jjj++;
    if (jjj % 10 == 0)
    {
        path.poses.push_back(msg_body_pose);
        pubPath.publish(path);
        
        //  save  unoptimized pose
         V3D rot_ang(Log( state_point.rot.toRotationMatrix())); //   旋转向量
        PointTypePose thisPose6D;  
        thisPose6D.x = msg_body_pose.pose.position.x ;
        thisPose6D.y = msg_body_pose.pose.position.y ;
        thisPose6D.z = msg_body_pose.pose.position.z ;
        thisPose6D.roll = rot_ang(0) ;
        thisPose6D.pitch = rot_ang(1) ;
        thisPose6D.yaw = rot_ang(2) ;
        fastlio_unoptimized_cloudKeyPoses6D->push_back(thisPose6D);   
    }
}

void publish_path_update(const ros::Publisher pubPath)
{
    ros::Time timeLaserInfoStamp = ros::Time().fromSec(lidar_end_time); //  时间戳
    string odometryFrame = "camera_init";
    if (pubPath.getNumSubscribers() != 0)
    {
        /*** if path is too large, the rvis will crash ***/
        static int kkk = 0;
        kkk++;
        if (kkk % 10 == 0)
        {
            // path.poses.push_back(globalPath);
            globalPath.header.stamp = timeLaserInfoStamp;
            globalPath.header.frame_id = odometryFrame;
            pubPath.publish(globalPath);
        }
    }
}


/*定义pose结构体*/
struct pose
{
    Eigen::Vector3d  t ;
    Eigen::Matrix3d  R;
};

bool CreateFile(std::ofstream& ofs, std::string file_path) {
    ofs.open(file_path, std::ios::out);                          //  使用std::ios::out 可实现覆盖
    if(!ofs)
    {
        std::cout << "open csv file error " << std::endl;
        return  false;
    }
    return true;
}

/* write2txt   format  KITTI*/
void WriteText(std::ofstream& ofs, pose data){
    ofs << std::fixed  <<  data.R(0,0)  << " " << data.R(0,1)   << " "<<   data.R(0,2)  << " "  <<    data.t[0]  <<  " "
                                      <<  data.R(1,0)  << " "  << data.R(1,1)  <<" " <<   data.R(1,2)   << " "  <<   data.t[1]  <<  " "
                                      <<  data.R(2,0)  << " "  << data.R(2,1)  <<" " <<   data.R(2,2)   << " "  <<   data.t[2]  <<  std::endl;

}

bool savePoseService(fast_lio_sam::save_poseRequest& req, fast_lio_sam::save_poseResponse& res)
{
    pose pose_gnss ;
    pose pose_optimized ;
    pose pose_without_optimized ;

    //std::ofstream  file_pose_gnss ;
    std::ofstream  file_pose_optimized ;
    std::ofstream  file_pose_without_optimized ;

    string savePoseDirectory;
    cout << "****************************************************" << endl;
    cout << "Saving poses to pose files ..." << endl;
    if(req.destination.empty()) savePoseDirectory = std::getenv("HOME") + savePCDDirectory;
    else savePoseDirectory = std::getenv("HOME") + req.destination;
    cout << "Save destination: " << savePoseDirectory << endl;

    // create file 
   // CreateFile(file_pose_gnss, savePoseDirectory + "/gnss_pose.txt");
    CreateFile(file_pose_optimized, savePoseDirectory + "/optimized_pose.txt");
    CreateFile(file_pose_without_optimized, savePoseDirectory + "/without_optimized_pose.txt");

    //  save optimize data
    for(int i = 0; i  < cloudKeyPoses6D->size(); i++){  
        pose_optimized.t =  Eigen::Vector3d(cloudKeyPoses6D->points[i].x, cloudKeyPoses6D->points[i].y, cloudKeyPoses6D->points[i].z  );
        pose_optimized.R = Exp(double(cloudKeyPoses6D->points[i].roll), double(cloudKeyPoses6D->points[i].pitch), double(cloudKeyPoses6D->points[i].yaw) );
        WriteText(file_pose_optimized, pose_optimized);
    }
    cout << "Sucess global optimized  poses to pose files ..." << endl;

    for(int i = 0; i  < fastlio_unoptimized_cloudKeyPoses6D->size(); i++){  
        pose_without_optimized.t =  Eigen::Vector3d(fastlio_unoptimized_cloudKeyPoses6D->points[i].x, fastlio_unoptimized_cloudKeyPoses6D->points[i].y, fastlio_unoptimized_cloudKeyPoses6D->points[i].z  );
        pose_without_optimized.R = Exp(double(fastlio_unoptimized_cloudKeyPoses6D->points[i].roll), double(fastlio_unoptimized_cloudKeyPoses6D->points[i].pitch), double(fastlio_unoptimized_cloudKeyPoses6D->points[i].yaw) );
        WriteText(file_pose_without_optimized, pose_without_optimized);
    }
    cout << "Sucess unoptimized  poses to pose files ..." << endl;



    //file_pose_gnss.close();
    file_pose_optimized.close();
    file_pose_without_optimized.close();
    return true  ;
}

/**
 * 保存全局关键帧特征点集合
*/
bool saveMapService(fast_lio_sam::save_mapRequest& req, fast_lio_sam::save_mapResponse& res)
{
      string saveMapDirectory;
    
      cout << "****************************************************" << endl;
      cout << "Saving map to pcd files ..." << endl;
      if(req.destination.empty()) saveMapDirectory = std::getenv("HOME") + savePCDDirectory;
      else saveMapDirectory = std::getenv("HOME") + req.destination;
      cout << "Save destination: " << saveMapDirectory << endl;
      // 这个代码太坑了！！注释掉
    //   int unused = system((std::string("exec rm -r ") + saveMapDirectory).c_str());
    //   unused = system((std::string("mkdir -p ") + saveMapDirectory).c_str());
      // 保存历史关键帧位姿
      pcl::io::savePCDFileBinary(saveMapDirectory + "/trajectory.pcd", *cloudKeyPoses3D);                    // 关键帧位置
      pcl::io::savePCDFileBinary(saveMapDirectory + "/transformations.pcd", *cloudKeyPoses6D);      // 关键帧位姿
      // 提取历史关键帧点集合

      pcl::PointCloud<PointType>::Ptr globalSurfCloud(new pcl::PointCloud<PointType>());
      pcl::PointCloud<PointType>::Ptr globalSurfCloudDS(new pcl::PointCloud<PointType>());
      pcl::PointCloud<PointType>::Ptr globalMapCloud(new pcl::PointCloud<PointType>());

      // 注意：拼接地图时，keyframe是lidar系，而fastlio更新后的存到的cloudKeyPoses6D 关键帧位姿是body系下的，需要把
      //cloudKeyPoses6D  转换为T_world_lidar 。 T_world_lidar = T_world_body * T_body_lidar , T_body_lidar 是外参
      for (int i = 0; i < (int)cloudKeyPoses6D->size(); i++) {
            //   *globalCornerCloud += *transformPointCloud(cornerCloudKeyFrames[i],  &cloudKeyPoses6D->points[i]);
            *globalSurfCloud   += *transformPointCloud(surfCloudKeyFrames[i],    &cloudKeyPoses6D->points[i]);
            cout << "\r" << std::flush << "Processing feature cloud " << i << " of " << cloudKeyPoses6D->size() << " ...";
      }

      if(req.resolution != 0)
      {
        cout << "\n\nSave resolution: " << req.resolution << endl;

        // 降采样
        downSizeFilterSurf.setInputCloud(globalSurfCloud);
        downSizeFilterSurf.setLeafSize(req.resolution, req.resolution, req.resolution);
        downSizeFilterSurf.filter(*globalSurfCloudDS);
        pcl::io::savePCDFileBinary(saveMapDirectory + "/SurfMap.pcd", *globalSurfCloudDS);
      }
      else
      {
        //   downSizeFilterCorner.setLeafSize(mappingCornerLeafSize, mappingCornerLeafSize, mappingCornerLeafSize);
         downSizeFilterSurf.setInputCloud(globalSurfCloud);
         downSizeFilterSurf.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
         downSizeFilterSurf.filter(*globalSurfCloudDS);
        // pcl::io::savePCDFileBinary(saveMapDirectory + "/CornerMap.pcd", *globalCornerCloud);       
        // pcl::io::savePCDFileBinary(saveMapDirectory + "/SurfMap.pcd", *globalSurfCloud);           //  稠密点云地图
      }

      // 保存到一起，全局关键帧特征点集合
    //   *globalMapCloud += *globalCornerCloud;
      *globalMapCloud += *globalSurfCloud;
      pcl::io::savePCDFileBinary(saveMapDirectory + "/filterGlobalMap.pcd", *globalSurfCloudDS);       //  滤波后地图
      int ret = pcl::io::savePCDFileBinary(saveMapDirectory + "/GlobalMap.pcd", *globalMapCloud);       //  稠密地图
      res.success = ret == 0;

      cout << "****************************************************" << endl;
      cout << "Saving map to pcd files completed\n" << endl;

      // visial optimize global map on viz
    ros::Time timeLaserInfoStamp = ros::Time().fromSec(lidar_end_time);
    string odometryFrame = "camera_init";
    publishCloud(&pubOptimizedGlobalMap, globalSurfCloudDS, timeLaserInfoStamp, odometryFrame);

      return true;
}


void saveMap()
{
    fast_lio_sam::save_mapRequest  req;
    fast_lio_sam::save_mapResponse res;
    // 保存全局关键帧特征点集合
    if(!saveMapService(req, res)){
        cout << "Fail to save map" << endl;
    }
}

/**
 * 发布局部关键帧map的特征点云
 */
void publishGlobalMap()
{
    /*** if path is too large, the rvis will crash ***/
    ros::Time timeLaserInfoStamp = ros::Time().fromSec(lidar_end_time);
    string odometryFrame = "camera_init";
    if (pubLaserCloudSurround.getNumSubscribers() == 0)
        return;

    if (cloudKeyPoses3D->points.empty() == true)
        return;
    pcl::KdTreeFLANN<PointType>::Ptr kdtreeGlobalMap(new pcl::KdTreeFLANN<PointType>());
    ;
    pcl::PointCloud<PointType>::Ptr globalMapKeyPoses(new pcl::PointCloud<PointType>());
    pcl::PointCloud<PointType>::Ptr globalMapKeyPosesDS(new pcl::PointCloud<PointType>());
    pcl::PointCloud<PointType>::Ptr globalMapKeyFrames(new pcl::PointCloud<PointType>());
    pcl::PointCloud<PointType>::Ptr globalMapKeyFramesDS(new pcl::PointCloud<PointType>());

    // kdtree查找最近一帧关键帧相邻的关键帧集合
    std::vector<int> pointSearchIndGlobalMap;
    std::vector<float> pointSearchSqDisGlobalMap;
    mtx.lock();
    kdtreeGlobalMap->setInputCloud(cloudKeyPoses3D);
    kdtreeGlobalMap->radiusSearch(cloudKeyPoses3D->back(), globalMapVisualizationSearchRadius, pointSearchIndGlobalMap, pointSearchSqDisGlobalMap, 0);
    mtx.unlock();

    for (int i = 0; i < (int)pointSearchIndGlobalMap.size(); ++i)
        globalMapKeyPoses->push_back(cloudKeyPoses3D->points[pointSearchIndGlobalMap[i]]);
    // 降采样
    pcl::VoxelGrid<PointType> downSizeFilterGlobalMapKeyPoses;
    downSizeFilterGlobalMapKeyPoses.setLeafSize(globalMapVisualizationPoseDensity, globalMapVisualizationPoseDensity, globalMapVisualizationPoseDensity); // for global map visualization
    downSizeFilterGlobalMapKeyPoses.setInputCloud(globalMapKeyPoses);
    downSizeFilterGlobalMapKeyPoses.filter(*globalMapKeyPosesDS);
    // 提取局部相邻关键帧对应的特征点云
    for (int i = 0; i < (int)globalMapKeyPosesDS->size(); ++i)
    {
        // 距离过大
        if (pointDistance(globalMapKeyPosesDS->points[i], cloudKeyPoses3D->back()) > globalMapVisualizationSearchRadius)
                continue;
        int thisKeyInd = (int)globalMapKeyPosesDS->points[i].intensity;
        // *globalMapKeyFrames += *transformPointCloud(cornerCloudKeyFrames[thisKeyInd],  &cloudKeyPoses6D->points[thisKeyInd]);
        *globalMapKeyFrames += *transformPointCloud(surfCloudKeyFrames[thisKeyInd], &cloudKeyPoses6D->points[thisKeyInd]); //  fast_lio only use  surfCloud
    }
    // 降采样，发布
    pcl::VoxelGrid<PointType> downSizeFilterGlobalMapKeyFrames;                                                                                   // for global map visualization
    downSizeFilterGlobalMapKeyFrames.setLeafSize(globalMapVisualizationLeafSize, globalMapVisualizationLeafSize, globalMapVisualizationLeafSize); // for global map visualization
    downSizeFilterGlobalMapKeyFrames.setInputCloud(globalMapKeyFrames);
    downSizeFilterGlobalMapKeyFrames.filter(*globalMapKeyFramesDS);
    publishCloud(&pubLaserCloudSurround, globalMapKeyFramesDS, timeLaserInfoStamp, odometryFrame);
}

//构造H矩阵
void h_share_model(state_ikfom &s, esekfom::dyn_share_datastruct<double> &ekfom_data)
{
    double match_start = omp_get_wtime();
    laserCloudOri->clear();
    corr_normvect->clear();
    total_residual = 0.0;

/** closest surface search and residual computation **/
#ifdef MP_EN
    omp_set_num_threads(MP_PROC_NUM);
#pragma omp parallel for
#endif
    for (int i = 0; i < feats_down_size; i++) //判断每个点的对应邻域是否符合平面点的假设
    {
        PointType &point_body = feats_down_body->points[i];   // lidar系下坐标
        PointType &point_world = feats_down_world->points[i]; // lidar数据点在world系下坐标

        /* transform to world frame */
        V3D p_body(point_body.x, point_body.y, point_body.z);                     // lidar系下坐标
        V3D p_global(s.rot * (s.offset_R_L_I * p_body + s.offset_T_L_I) + s.pos); // w系下坐标
        point_world.x = p_global(0);
        point_world.y = p_global(1);
        point_world.z = p_global(2);
        point_world.intensity = point_body.intensity;

        vector<float> pointSearchSqDis(NUM_MATCH_POINTS);

        auto &points_near = Nearest_Points[i];

        if (ekfom_data.converge)        //  如果收敛了
        {
            /** Find the closest surfaces in the map **/
            // world系下从ikdtree找5个最近点用于平面拟合
            ikdtree.Nearest_Search(point_world, NUM_MATCH_POINTS, points_near, pointSearchSqDis);
            //最近点数大于NUM_MATCH_POINTS，且最大距离小于等于5,point_selected_surf设置为true
            point_selected_surf[i] = points_near.size() < NUM_MATCH_POINTS ? false : pointSearchSqDis[NUM_MATCH_POINTS - 1] > 5 ? false
                                                                                                                                : true;
        }

        //不符合平面特征
        if (!point_selected_surf[i])
            continue;

        VF(4)  pabcd;          //  plane 参数  a b c d
        point_selected_surf[i] = false; //二次筛选平面点
        //拟合局部平面，返回：是否有内点大于距离阈值
        if (esti_plane(pabcd, points_near, 0.1f))
        {
            // plane distance
            float pd2 = pabcd(0) * point_world.x + pabcd(1) * point_world.y + pabcd(2) * point_world.z + pabcd(3);
            float s = 1 - 0.9 * fabs(pd2) / sqrt(p_body.norm()); //筛选条件 1 - 0.9 * （点到平面距离 / 点到lidar原点距离）

            if (s > 0.9)
            {
                point_selected_surf[i] = true;
                normvec->points[i].x = pabcd(0);
                normvec->points[i].y = pabcd(1);
                normvec->points[i].z = pabcd(2);
                normvec->points[i].intensity = pd2; //以intensity记录点到面残差
                res_last[i] = abs(pd2);             // 残差，距离
            }
        }
    }

    effct_feat_num = 0; //有效匹配点数

    for (int i = 0; i < feats_down_size; i++)
    {
        if (point_selected_surf[i])
        {
            laserCloudOri->points[effct_feat_num] = feats_down_body->points[i]; // body系 平面特征点
            corr_normvect->points[effct_feat_num] = normvec->points[i];         // world系 平面参数
            total_residual += res_last[i];                                      // 残差和
            effct_feat_num++;
        }
    }

    if (effct_feat_num < 1)
    {
        ekfom_data.valid = false;
        ROS_WARN("No Effective Points! \n");
        return;
    }

    res_mean_last = total_residual / effct_feat_num; // 残差均值 （距离）
    match_time += omp_get_wtime() - match_start;
    double solve_start_ = omp_get_wtime();

    /*** Computation of Measuremnt Jacobian matrix H and measurents vector ***/
    ekfom_data.h_x = MatrixXd::Zero(effct_feat_num, 12); //定义H维度
    ekfom_data.h.resize(effct_feat_num);                 //有效方程个数

    for (int i = 0; i < effct_feat_num; i++)
    {
        const PointType &laser_p = laserCloudOri->points[i]; // lidar系 平面特征点
        V3D point_this_be(laser_p.x, laser_p.y, laser_p.z);
        M3D point_be_crossmat;
        point_be_crossmat << SKEW_SYM_MATRX(point_this_be);
        V3D point_this = s.offset_R_L_I * point_this_be + s.offset_T_L_I; // 当前状态imu系下 点坐标
        M3D point_crossmat;
        point_crossmat << SKEW_SYM_MATRX(point_this); // 当前状态imu系下 点坐标反对称矩阵

        /*** get the normal vector of closest surface/corner ***/
        const PointType &norm_p = corr_normvect->points[i];
        V3D norm_vec(norm_p.x, norm_p.y, norm_p.z); //对应局部法相量, world系下

        /*** calculate the Measuremnt Jacobian matrix H ***/
        V3D C(s.rot.conjugate() * norm_vec); // 将对应局部法相量旋转到imu系下 corr_normal_I
        V3D A(point_crossmat * C);           //残差对角度求导系数 P(IMU)^ [R(imu <-- w) * normal_w]
        //添加数据到矩阵
        if (extrinsic_est_en)
        {
            // B = lidar_p^ R(L <-- I) * corr_normal_I
            // B = lidar_p^ R(L <-- I) * R(I <-- W) * normal_W
            V3D B(point_be_crossmat * s.offset_R_L_I.conjugate() * C); // s.rot.conjugate()*norm_vec);
            ekfom_data.h_x.block<1, 12>(i, 0) << norm_p.x, norm_p.y, norm_p.z, VEC_FROM_ARRAY(A), VEC_FROM_ARRAY(B), VEC_FROM_ARRAY(C);
        }
        else
        {
            ekfom_data.h_x.block<1, 12>(i, 0) << norm_p.x, norm_p.y, norm_p.z, VEC_FROM_ARRAY(A), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;
        }

        /*** Measuremnt: distance to the closest surface/corner ***/
        ekfom_data.h(i) = -norm_p.intensity;
    }
    solve_time += omp_get_wtime() - solve_start_;
}

void init_pose_cbk(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg){
  double x=msg->pose.pose.position.x;
  double y=msg->pose.pose.position.y;
  printf("  received init pose:%f  %f \n",x,y);
  state_ikfom state_inited;
  Eigen::Vector3d pos(x,y, 0);
  Eigen::Quaterniond q(msg->pose.pose.orientation.w,msg->pose.pose.orientation.x,
                       msg->pose.pose.orientation.y,msg->pose.pose.orientation.z);
  //  更新状态量
  state_inited.pos = pos;
  state_inited.rot =  q;

  double epsi[23] = {0.005};
  fill(epsi, epsi + 23, 0.005);
  ///初始化，其中h_share_model定义了·平面搜索和残差计算
  esekfom::esekf<state_ikfom, 12, input_ikfom> new_ikfom; // 状态，噪声维度，输入
  new_ikfom.init_dyn_share(get_f, df_dx, df_dw, h_share_model, NUM_MAX_ITERATIONS, epsi);
  new_ikfom.change_x(state_inited);

  ikf_lock_.lock();
  ikfom_=new_ikfom;
  state_point=state_inited;
  last_state_point=state_inited;
  p_imu->Reset();
  flg_first_scan=true;
  ikf_lock_.unlock();

}

int main(int argc, char **argv) {
  // allocateMemory();
  for (int i = 0; i < 6; ++i) {
    transformTobeMapped[i] = 0;
  }

  ros::init(argc, argv, "laserMapping");
  ros::NodeHandle nh;

  nh.param<bool>("publish/path_en", path_en, true);
  nh.param<bool>("publish/scan_publish_en", scan_pub_en, true);
  nh.param<bool>("publish/dense_publish_en", dense_pub_en, true);
  nh.param<bool>("publish/scan_bodyframe_pub_en", scan_body_pub_en, true);
  nh.param<int>("max_iteration", NUM_MAX_ITERATIONS, 10);
  nh.param<string>("map_file_path", map_file_path, "");
  nh.param<string>("common/lid_topic", lid_topic, "/livox/lidar");
  nh.param<string>("common/imu_topic", imu_topic, "/livox/imu");
  nh.param<bool>("common/time_sync_en", time_sync_en, false);
  nh.param<double>("filter_size_corner", filter_size_corner_min, 0.5);
  nh.param<double>("filter_size_surf", filter_size_surf_min, 0.5);
  nh.param<double>("filter_size_map", filter_size_map_min, 0.5);
  nh.param<double>("cube_side_length", cube_len, 200);
  nh.param<float>("mapping/det_range", DET_RANGE, 300.f);
  nh.param<double>("mapping/fov_degree", fov_deg, 180);
  nh.param<double>("mapping/gyr_cov", gyr_cov, 0.1);
  nh.param<double>("mapping/acc_cov", acc_cov, 0.1);
  nh.param<double>("mapping/b_gyr_cov", b_gyr_cov, 0.0001);
  nh.param<double>("mapping/b_acc_cov", b_acc_cov, 0.0001);
  nh.param<double>("preprocess/blind", p_pre->blind, 0.01);
  nh.param<int>("preprocess/lidar_type", p_pre->lidar_type, AVIA);
  nh.param<int>("preprocess/scan_line", p_pre->N_SCANS, 16);
  nh.param<int>("preprocess/scan_rate", p_pre->SCAN_RATE, 10);
  nh.param<int>("point_filter_num", p_pre->point_filter_num, 1);
  nh.param<bool>("feature_extract_enable", p_pre->feature_enabled, false);
  nh.param<bool>("runtime_pos_log_enable", runtime_pos_log, 0);
  nh.param<bool>("mapping/extrinsic_est_en", extrinsic_est_en, true);
  nh.param<bool>("pcd_save/pcd_save_en", pcd_save_en, false);
  nh.param<int>("pcd_save/interval", pcd_save_interval, -1);
  nh.param<vector<double>>("mapping/extrinsic_T", extrinT, vector<double>());
  nh.param<vector<double>>("mapping/extrinsic_R", extrinR, vector<double>());
  cout << "p_pre->lidar_type " << p_pre->lidar_type << endl;

  nh.param<float>("odometrySurfLeafSize", odometrySurfLeafSize, 0.2);
  nh.param<float>("mappingCornerLeafSize", mappingCornerLeafSize, 0.2);
  nh.param<float>("mappingSurfLeafSize", mappingSurfLeafSize, 0.2);

  nh.param<float>("z_tollerance", z_tollerance, FLT_MAX);
  nh.param<float>("rotation_tollerance", rotation_tollerance, FLT_MAX);

  nh.param<int>("numberOfCores", numberOfCores, 2);
  nh.param<double>("mappingProcessInterval", mappingProcessInterval, 0.15);

  // save keyframes
  nh.param<float>("surroundingkeyframeAddingDistThreshold", surroundingkeyframeAddingDistThreshold, 20.0);
  nh.param<float>("surroundingkeyframeAddingAngleThreshold", surroundingkeyframeAddingAngleThreshold, 0.2);
  nh.param<float>("surroundingKeyframeDensity", surroundingKeyframeDensity, 1.0);
  nh.param<float>("surroundingKeyframeSearchRadius", surroundingKeyframeSearchRadius, 50.0);

  // loop clousre
  nh.param<bool>("loopClosureEnableFlag", loopClosureEnableFlag, false);
  nh.param<float>("loopClosureFrequency", loopClosureFrequency, 1.0);
  nh.param<int>("surroundingKeyframeSize", surroundingKeyframeSize, 50);
  nh.param<float>("historyKeyframeSearchRadius", historyKeyframeSearchRadius, 10.0);
  nh.param<float>("historyKeyframeSearchTimeDiff", historyKeyframeSearchTimeDiff, 30.0);
  nh.param<int>("historyKeyframeSearchNum", historyKeyframeSearchNum, 25);
  nh.param<float>("historyKeyframeFitnessScore", historyKeyframeFitnessScore, 0.3);


  // Visualization
  nh.param<float>("globalMapVisualizationSearchRadius", globalMapVisualizationSearchRadius, 1e3);
  nh.param<float>("globalMapVisualizationPoseDensity", globalMapVisualizationPoseDensity, 10.0);
  nh.param<float>("globalMapVisualizationLeafSize", globalMapVisualizationLeafSize, 1.0);

  // visual ikdtree map
  nh.param<bool>("locate_mode", locate_mode, false);
  vector<double> init_pos(3, 0.0);
  vector<double> init_rpy(3, 0.0);
  nh.param<vector<double>>("locate/init_pos", init_pos, vector<double>());
  nh.param<vector<double>>("locate/init_rpy", init_rpy, vector<double>());
  nh.param<bool>("visulize_IkdtreeMap", visulize_IkdtreeMap, false);
  nh.param<bool>("ndtLoopMatch", ndt_loop, false);

  // reconstruct ikdtree
  nh.param<bool>("recontructKdTree", recontructKdTree, false);

  // savMap
  nh.param<bool>("savePCD", savePCD, false);
  nh.param<std::string>("savePCDDirectory", savePCDDirectory, "/Downloads/LOAM/");

  downSizeFilterCorner.setLeafSize(mappingCornerLeafSize, mappingCornerLeafSize, mappingCornerLeafSize);
  // downSizeFilterSurf.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
  downSizeFilterICP.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
  downSizeFilterSurroundingKeyPoses.setLeafSize(surroundingKeyframeDensity, surroundingKeyframeDensity,
                                                surroundingKeyframeDensity); // for surrounding key poses of scan-to-map optimization

  /*
   * SC回环参数
   */
  scManager.setSCdistThres(scDistThres);
  scManager.setMaximumRadius(scMaximumRadius);
  // ISAM2参数
  gtsam::ISAM2Params parameters;
  parameters.relinearizeThreshold = 0.01;
  parameters.relinearizeSkip = 1;
  isam = new gtsam::ISAM2(parameters);

  path.header.stamp = ros::Time::now();
  path.header.frame_id = "camera_init";

  /*** variables definition ***/
  int effect_feat_num = 0, frame_num = 0;
  double deltaT, deltaR, aver_time_consu = 0, aver_time_icp = 0, aver_time_match = 0, aver_time_incre = 0, aver_time_solve = 0, aver_time_const_H_time = 0;
  bool flg_EKF_converged, EKF_stop_flg = 0;

  FOV_DEG = (fov_deg + 10.0) > 179.9 ? 179.9 : (fov_deg + 10.0);
  HALF_FOV_COS = cos((FOV_DEG) * 0.5 * PI_M / 180.0);

  _featsArray.reset(new PointCloudXYZI());

  memset(point_selected_surf, true, sizeof(point_selected_surf));
  memset(res_last, -1000.0f, sizeof(res_last));
  downSizeFilterSurf.setLeafSize(filter_size_surf_min, filter_size_surf_min, filter_size_surf_min);
  downSizeFilterMap.setLeafSize(filter_size_map_min, filter_size_map_min, filter_size_map_min);
  memset(point_selected_surf, true, sizeof(point_selected_surf)); //重复？
  memset(res_last, -1000.0f, sizeof(res_last));

  //设置imu和lidar外参和imu参数等
  Lidar_T_wrt_IMU << VEC_FROM_ARRAY(extrinT);
  Lidar_R_wrt_IMU << MAT_FROM_ARRAY(extrinR);
  p_imu->set_extrinsic(Lidar_T_wrt_IMU, Lidar_R_wrt_IMU);
  p_imu->set_gyr_cov(V3D(gyr_cov, gyr_cov, gyr_cov));
  p_imu->set_acc_cov(V3D(acc_cov, acc_cov, acc_cov)); // 加速度协方差
  p_imu->set_gyr_bias_cov(V3D(b_gyr_cov, b_gyr_cov, b_gyr_cov));
  p_imu->set_acc_bias_cov(V3D(b_acc_cov, b_acc_cov, b_acc_cov));

  double epsi[23] = {0.001};
  fill(epsi, epsi + 23, 0.001);
  ///初始化，其中h_share_model定义了·平面搜索和残差计算
  ikfom_.init_dyn_share(get_f, df_dx, df_dw, h_share_model, NUM_MAX_ITERATIONS, epsi);

  /*** debug record ***/
  FILE *fp;
  string pos_log_dir = root_dir + "/Log/pos_log.txt";
  fp = fopen(pos_log_dir.c_str(), "w");

  ofstream fout_pre, fout_out, fout_dbg;
  fout_pre.open(DEBUG_FILE_DIR("mat_pre.txt"), ios::out);
  fout_out.open(DEBUG_FILE_DIR("mat_out.txt"), ios::out);
  fout_dbg.open(DEBUG_FILE_DIR("dbg.txt"), ios::out);
  if (fout_pre && fout_out)
    cout << "~~~~" << ROOT_DIR << " file opened" << endl;
  else
    cout << "~~~~" << ROOT_DIR << " doesn't exist" << endl;

  /*** ROS subscribe initialization ***/
  ros::Subscriber sub_pcl =
      p_pre->lidar_type == AVIA ? nh.subscribe(lid_topic, 200000, livox_pcl_cbk) : nh.subscribe(lid_topic, 200000,
                                                                                                standard_pcl_cbk);
  ros::Subscriber sub_imu = nh.subscribe(imu_topic, 200000, imu_cbk);
  ros::Publisher pubLaserCloudFull = nh.advertise<sensor_msgs::PointCloud2>("/cloud_registered",
                                                                            100000);        //  world系下稠密点云
  ros::Publisher pubLaserCloudFull_body = nh.advertise<sensor_msgs::PointCloud2>("/cloud_registered_body",
                                                                                 100000);      //  body系下稠密点云
  ros::Publisher pubLaserCloudEffect = nh.advertise<sensor_msgs::PointCloud2>("/cloud_effected",
                                                                              100000);         //  no used
  ros::Publisher pubLaserCloudMap = nh.advertise<sensor_msgs::PointCloud2>("/Laser_map",
                                                                           100000);                    //  no used
  ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry>("/Odometry", 100000);
  ros::Publisher pubPath = nh.advertise<nav_msgs::Path>("/path", 1e00000);

  ros::Publisher pubPathUpdate = nh.advertise<nav_msgs::Path>("fast_lio_sam/path_update",
                                                              100000);                   //  isam更新后的path
  pubLaserCloudSurround = nh.advertise<sensor_msgs::PointCloud2>("fast_lio_sam/mapping/keyframe_submap",
                                                                 1); // 发布局部关键帧map的特征点云
  pubOptimizedGlobalMap = nh.advertise<sensor_msgs::PointCloud2>("fast_lio_sam/mapping/map_global_optimized",
                                                                 1); // 发布局部关键帧map的特征点云

  // loop clousre
  // 发布闭环匹配关键帧局部map
  pubHistoryKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("fast_lio_sam/mapping/icp_loop_closure_history_cloud",
                                                               1);
  // 发布当前关键帧经过闭环优化后的位姿变换之后的特征点云
  pubIcpKeyFrames = nh.advertise<sensor_msgs::PointCloud2>("fast_lio_sam/mapping/icp_loop_closure_corrected_cloud", 1);
  // 发布闭环边，rviz中表现为闭环帧之间的连线
  pubLoopConstraintEdge = nh.advertise<visualization_msgs::MarkerArray>(
      "/fast_lio_sam/mapping/loop_closure_constraints", 1);


  ros::Subscriber sub_init_pose;
  // 回环检测线程
  std::thread *loopthread = nullptr;
  if (locate_mode == false) {
    ros::ServiceServer srvSaveMap;
    ros::ServiceServer srvSavePose;
    // saveMap  发布地图保存服务
    srvSaveMap = nh.advertiseService("/save_map", &saveMapService);
    // savePose  发布轨迹保存服务
    srvSavePose = nh.advertiseService("/save_pose", &savePoseService);
    loopthread = new std::thread(&loopClosureThread);
  } else {
    PointCloudXYZI map_cloud;
    std::string map_file = std::getenv("HOME") + savePCDDirectory + "/filterGlobalMap.pcd";
    if (pcl::io::loadPCDFile<PointType>(map_file, map_cloud) == -1) //* 读入PCD格式的文件，如果文件不存在，返回-1
    {
      PCL_ERROR ("Couldn't read file test_pcd.pcd \n"); //文件不存在时，返回错误，终止程序。
      return (-1);
    }
    printf(" Read map point num:%d\n", map_cloud.size());
    ikdtree.Build(map_cloud.points);

    sub_init_pose = nh.subscribe("/initialpose", 1000, init_pose_cbk);

    state_ikfom state_inited;
    Eigen::Vector3d pos(init_pos[0], init_pos[1], init_pos[2]);
    Eigen::Quaterniond q = EulerToQuat(init_rpy[0], init_rpy[1], init_rpy[2]);
    //  更新状态量
    state_inited.pos = pos;
    state_inited.rot = q;
    ikfom_.change_x(state_inited);
    last_state_point = state_inited;

    usleep(1000 * 1000);
    PointVector().swap(ikdtree.PCL_Storage);
    ikdtree.flatten(ikdtree.Root_Node, ikdtree.PCL_Storage, NOT_RECORD);
    featsFromMap->clear();
    featsFromMap->points = ikdtree.PCL_Storage;
    publish_map(pubLaserCloudMap);
  }

  signal(SIGINT, SigHandle);
  ros::Rate rate(5000);
  bool status = ros::ok();
  while (status) {
    if (flg_exit)
      break;
    ros::spinOnce();

    /// 在Measure内，储存当前lidar数据及lidar扫描时间内对应的imu数据序列
    if (sync_packages(Measures)) {
      ikf_lock_.lock();
      //第一帧lidar数据
      if (flg_first_scan) {
        first_lidar_time = Measures.lidar_beg_time; //记录第一帧绝对时间
        p_imu->first_lidar_time = first_lidar_time; //记录第一帧绝对时间
        flg_first_scan = false;
        ikf_lock_.unlock();
        continue;
      }

      double t0, t1, t2, t3, t4, t5, match_start, solve_start, svd_time;

      match_time = 0;
      kdtree_search_time = 0.0;
      solve_time = 0;
      solve_const_H_time = 0;
      svd_time = 0;
      t0 = omp_get_wtime();

      //根据imu数据序列和lidar数据，向前传播纠正点云的畸变, 此前已经完成间隔采样或特征提取
      // feats_undistort 为畸变纠正之后的点云,lidar系

      p_imu->Process(Measures, ikfom_, feats_undistort);
      state_point = ikfom_.get_x();                                               // 前向传播后body的状态预测值
      pos_lid = state_point.pos + state_point.rot * state_point.offset_T_L_I; // global系 lidar位置

      if (feats_undistort->empty() || (feats_undistort == NULL)) {
        ROS_WARN("No point, skip this scan!\n");
        ikf_lock_.unlock();
        continue;
      }

      // 检查当前lidar数据时间，与最早lidar数据时间是否足够,两帧间隔0.1s
      flg_EKF_inited = (Measures.lidar_beg_time - first_lidar_time) < INIT_TIME ? false : true;

      /*** Segment the map in lidar FOV ***/
      if (locate_mode == false)
        lasermap_fov_segment(); // 根据lidar在W系下的位置，重新确定局部地图的包围盒角点，移除远端的点
      else {
        /*** downsample the feature points in a scan ***/
        double ndt_beg = omp_get_wtime();
        downSizeFilterSurf.setInputCloud(feats_undistort);
        downSizeFilterSurf.filter(*feats_down_body);

        pcl::NormalDistributionsTransform<PointType, PointType> ndt;
        ndt.setTransformationEpsilon(0.001);
        // Setting maximum step size for More-Thuente line search.
        ndt.setStepSize(0.1);
        //Setting Resolution of NDT grid structure (VoxelGridCovariance).
        ndt.setResolution(0.5);
        // Setting max number of registration iterations.
        ndt.setMaximumIterations(50);
        // Setting point cloud to be aligned.
        ndt.setInputSource(feats_down_body);
        // Setting point cloud to be aligned to.
        ndt.setInputTarget(featsFromMap);
        pcl::PointCloud<PointType>::Ptr unused_result(new pcl::PointCloud<PointType>());
        ndt.align(*unused_result, Eigen::Matrix4f::Identity());
        double ndt_end = omp_get_wtime();

        printf(" ndt time :%f , size(%d  %d)\n", ndt_end - ndt_beg, feats_down_body->size(), featsFromMap->size());

      }

      t1 = omp_get_wtime();
      feats_down_size = feats_down_body->points.size(); //当前帧降采样后点数

      /*** initialize the map kdtree ***/
      if (locate_mode == false) {
        if (ikdtree.Root_Node == nullptr) {
          if (feats_down_size > 5) {
            ikdtree.set_downsample_param(filter_size_map_min);
            feats_down_world->resize(feats_down_size);
            for (int i = 0; i < feats_down_size; i++) {
              pointBodyToWorld(&(feats_down_body->points[i]), &(feats_down_world->points[i])); // point转到world系下
            }
            // world系下对当前帧降采样后的点云，初始化lkd-tree
            ikdtree.Build(feats_down_world->points);
          }
          ikf_lock_.unlock();
          continue;
        }
      }
      int featsFromMapNum = ikdtree.validnum();
      kdtree_size_st = ikdtree.size();

      // cout<<"[ mapping ]: In num: "<<feats_undistort->points.size()<<" downsamp "<<feats_down_size<<" Map num: "<<featsFromMapNum<<"effect num:"<<effct_feat_num<<endl;

      /*** ICP and iterated Kalman filter update ***/
      if (feats_down_size < 5) {
        ROS_WARN("No point, skip this scan!\n");
        ikf_lock_.unlock();
        continue;
      }

      normvec->resize(feats_down_size);
      feats_down_world->resize(feats_down_size);

      // lidar --> imu
      V3D ext_euler = SO3ToEuler(state_point.offset_R_L_I);
      fout_pre << setw(20) << Measures.lidar_beg_time - first_lidar_time << " " << euler_cur.transpose() << " "
               << state_point.pos.transpose() << " " << ext_euler.transpose() << " "
               << state_point.offset_T_L_I.transpose() << " " << state_point.vel.transpose()
               << " " << state_point.bg.transpose() << " " << state_point.ba.transpose() << " " << state_point.grav
               << endl;

      pointSearchInd_surf.resize(feats_down_size);
      Nearest_Points.resize(feats_down_size);
      int rematch_num = 0;
      bool nearest_search_en = true; //

      t2 = omp_get_wtime();

      /*** iterated state estimation ***/
      double t_update_start = omp_get_wtime();
      double solve_H_time = 0;
      bool matched = ikfom_.update_iterated_dyn_share_modified(LASER_POINT_COV, solve_H_time);//预测、更新
      state_point = ikfom_.get_x();
      last_state_point = state_point;
      /*if (matched==false && locate_mode==true) {
        printf(" ikfom state update failed ...continue...\n");
        ikfom_.change_x(last_state_point);//恢复到前一帧的数据
        state_point = last_state_point;
      }*/

      euler_cur = SO3ToEuler(state_point.rot);
      pos_lid = state_point.pos + state_point.rot * state_point.offset_T_L_I; // world系下lidar坐标
      geoQuat.x = state_point.rot.coeffs()[0];                                // world系下当前imu的姿态四元数
      geoQuat.y = state_point.rot.coeffs()[1];
      geoQuat.z = state_point.rot.coeffs()[2];
      geoQuat.w = state_point.rot.coeffs()[3];
      double t_update_end = omp_get_wtime();
      getCurPose(state_point); //   更新transformTobeMapped
      // Publish points
      if (scan_pub_en) {
        publish_frame_world(pubLaserCloudFull);        //   发布world系下的点云
      }
      /******* Publish odometry *******/
      publish_odometry(pubOdomAftMapped);
      ikf_lock_.unlock();
      /*if (matched == false && locate_mode==true) {
        continue;
      }*/

      /*back end*/
      // 1.计算当前帧与前一帧位姿变换，如果变化太小，不设为关键帧，反之设为关键帧
      // 2.添加激光里程计因子、GPS因子、闭环因子
      // 3.执行因子图优化
      // 4.得到当前帧优化后的位姿，位姿协方差
      // 5.添加cloudKeyPoses3D，cloudKeyPoses6D，更新transformTobeMapped，添加当前关键帧的角点、平面点集合
      if (locate_mode == false) {
        saveKeyFramesAndFactor();
        // 更新因子图中所有变量节点的位姿，也就是所有历史关键帧的位姿，更新里程计轨迹， 重构ikdtree
        correctPoses();
      }
      double tloop = omp_get_wtime();
      /*printf(" match time:%fs,kdtree points:%d  save KeyFrame loop time:%fs\n", t_update_end - t_update_start,
             ikdtree.validnum(), tloop - t_update_end);*/

      /*** add the feature points to map kdtree ***/
      if (locate_mode == false) {
        t3 = omp_get_wtime();
        map_incremental();
        t5 = omp_get_wtime();
      }

      if (path_en) {
        publish_path(pubPath);
        publish_path_update(pubPathUpdate);             //   发布经过isam2优化后的路径
        static int jjj = 0;
        jjj++;
        if (jjj % 100 == 0) {
          publishGlobalMap();             //  发布局部点云特征地图
        }
      }

      if (scan_pub_en && scan_body_pub_en)
        publish_frame_body(pubLaserCloudFull_body);         //  发布imu系下的点云

      /*
      //Debug variables
      if (runtime_pos_log)
      {
          frame_num++;
          kdtree_size_end = ikdtree.size();
          aver_time_consu = aver_time_consu * (frame_num - 1) / frame_num + (t5 - t0) / frame_num;
          aver_time_icp = aver_time_icp * (frame_num - 1) / frame_num + (t_update_end - t_update_start) / frame_num;
          aver_time_match = aver_time_match * (frame_num - 1) / frame_num + (match_time) / frame_num;
          aver_time_incre = aver_time_incre * (frame_num - 1) / frame_num + (kdtree_incremental_time) / frame_num;
          aver_time_solve = aver_time_solve * (frame_num - 1) / frame_num + (solve_time + solve_H_time) / frame_num;
          aver_time_const_H_time = aver_time_const_H_time * (frame_num - 1) / frame_num + solve_time / frame_num;
          T1[time_log_counter] = Measures.lidar_beg_time;
          s_plot[time_log_counter] = t5 - t0;
          s_plot2[time_log_counter] = feats_undistort->points.size();
          s_plot3[time_log_counter] = kdtree_incremental_time;
          s_plot4[time_log_counter] = kdtree_search_time;
          s_plot5[time_log_counter] = kdtree_delete_counter;
          s_plot6[time_log_counter] = kdtree_delete_time;
          s_plot7[time_log_counter] = kdtree_size_st;
          s_plot8[time_log_counter] = kdtree_size_end;
          s_plot9[time_log_counter] = aver_time_consu;
          s_plot10[time_log_counter] = add_point_size;
          time_log_counter++;
          printf("[ mapping ]: time: IMU + Map + Input Downsample: %0.6f ave match: %0.6f ave solve: %0.6f  ave ICP: %0.6f  map incre: %0.6f ave total: %0.6f icp: %0.6f construct H: %0.6f \n", t1 - t0, aver_time_match, aver_time_solve, t3 - t1, t5 - t3, aver_time_consu, aver_time_icp, aver_time_const_H_time);
          ext_euler = SO3ToEuler(state_point.offset_R_L_I);
          fout_out << setw(20) << Measures.lidar_beg_time - first_lidar_time << " " << euler_cur.transpose() << " " << state_point.pos.transpose() << " " << ext_euler.transpose() << " " << state_point.offset_T_L_I.transpose() << " " << state_point.vel.transpose()
                   << " " << state_point.bg.transpose() << " " << state_point.ba.transpose() << " " << state_point.grav << " " << feats_undistort->points.size() << endl;
          dump_lio_state_to_log(fp);
      }*/
    }

    status = ros::ok();
    rate.sleep();
  }

  /**************** save map ****************/
  /* 1. make sure you have enough memories
  /* 2. pcd save will largely influence the real-time performences **/
  if (pcl_wait_save->size() > 0 && pcd_save_en) {
    string file_name = string("scans.pcd");
    string all_points_dir(string(string(ROOT_DIR) + "PCD/") + file_name);
    pcl::PCDWriter pcd_writer;
    cout << "current scan saved to /PCD/" << file_name << endl;
    pcd_writer.writeBinary(all_points_dir, *pcl_wait_save);
  }

  fout_out.close();
  fout_pre.close();

  if (runtime_pos_log) {
    vector<double> t, s_vec, s_vec2, s_vec3, s_vec4, s_vec5, s_vec6, s_vec7;
    FILE *fp2;
    string log_dir = root_dir + "/Log/fast_lio_time_log.csv";
    fp2 = fopen(log_dir.c_str(), "w");
    fprintf(fp2,
            "time_stamp, total time, scan point size, incremental time, search time, delete size, delete time, tree size st, tree size end, add point size, preprocess time\n");
    for (int i = 0; i < time_log_counter; i++) {
      fprintf(fp2, "%0.8f,%0.8f,%d,%0.8f,%0.8f,%d,%0.8f,%d,%d,%d,%0.8f\n", T1[i], s_plot[i], int(s_plot2[i]),
              s_plot3[i], s_plot4[i], int(s_plot5[i]), s_plot6[i], int(s_plot7[i]), int(s_plot8[i]), int(s_plot10[i]),
              s_plot11[i]);
      t.push_back(T1[i]);
      s_vec.push_back(s_plot9[i]);
      s_vec2.push_back(s_plot3[i] + s_plot6[i]);
      s_vec3.push_back(s_plot4[i]);
      s_vec5.push_back(s_plot[i]);
    }
    fclose(fp2);
  }

  startFlag = false;
  if (locate_mode == false) {
    loopthread->join(); //  分离线程
  }
  delete loopthread;

  return 0;
}