12345qiupeng
/
Fast-Lio
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add the scan rate parameter

main
xw 2021-09-22 22:58:38 -04:00
parent d85c9eff50
commit 45aa82e4d6
5 changed files with 12 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
config/velodyne.yaml
View File

@ -6,6 +6,7 @@ common:
preprocess: preprocess:
lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 32 scan_line: 32
scan_rate: 10 # only need to be set for velodyne, unit: Hz,
blind: 4 blind: 4
mapping: mapping:
@ -15,7 +16,7 @@ mapping:
b_gyr_cov: 0.0001 b_gyr_cov: 0.0001
fov_degree: 180 fov_degree: 180
det_range: 100.0 det_range: 100.0
extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic,
extrinsic_T: [ 0, 0, 0.28] extrinsic_T: [ 0, 0, 0.28]
extrinsic_R: [ 1, 0, 0, extrinsic_R: [ 1, 0, 0,
0, 1, 0, 0, 1, 0,

12
rviz_cfg/loam_livox.rviz
View File

@ -85,7 +85,7 @@ Visualization Manager:
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 150 Max Intensity: 159
Min Color: 238; 238; 236 Min Color: 238; 238; 236
Min Intensity: 0 Min Intensity: 0
Name: surround Name: surround
@ -110,12 +110,12 @@ Visualization Manager:
Channel Name: intensity Channel Name: intensity
Class: rviz/PointCloud2 Class: rviz/PointCloud2
Color: 255; 255; 255 Color: 255; 255; 255
Color Transformer: AxisColor Color Transformer: Intensity
Decay Time: 1000 Decay Time: 1000
Enabled: true Enabled: true
Invert Rainbow: true Invert Rainbow: true
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 0 Max Intensity: 159
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: currPoints Name: currPoints
@ -348,11 +348,11 @@ Visualization Manager:
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: true collapsed: false
Height: 1383 Height: 1383
Hide Left Dock: true Hide Left Dock: false
Hide Right Dock: true Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001c8000004b5fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000004b5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000061f00000052fc0100000002fb0000000800540069006d006501000000000000061f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000061f000004b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000400000000000001c8000004b5fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000061f00000052fc0100000002fb0000000800540069006d006501000000000000061f000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000451000004b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:

1
src/laserMapping.cpp
View File

@ -773,6 +773,7 @@ int main(int argc, char** argv)
nh.param<double>("preprocess/blind", p_pre->blind, 0.01); 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/lidar_type", p_pre->lidar_type, AVIA);
nh.param<int>("preprocess/scan_line", p_pre->N_SCANS, 16); 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, 2); nh.param<int>("point_filter_num", p_pre->point_filter_num, 2);
nh.param<bool>("feature_extract_enable", p_pre->feature_enabled, false); 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>("runtime_pos_log_enable", runtime_pos_log, 0);

3
src/preprocess.cpp
View File

@ -8,6 +8,7 @@ Preprocess::Preprocess()
{ {
inf_bound = 10; inf_bound = 10;
N_SCANS = 6; N_SCANS = 6;
SCAN_RATE = 10;
group_size = 8; group_size = 8;
disA = 0.01; disA = 0.01;
disA = 0.1; // B? disA = 0.1; // B?
@ -269,7 +270,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
pl_surf.reserve(plsize); pl_surf.reserve(plsize);
/*** These variables only works when no point timestamps given ***/ /*** These variables only works when no point timestamps given ***/
double omega_l=3.61; // scan angular velocity double omega_l = 0.361 * SCAN_RATE; // scan angular velocity
std::vector<bool> is_first(N_SCANS,true); std::vector<bool> is_first(N_SCANS,true);
std::vector<double> yaw_fp(N_SCANS, 0.0); // yaw of first scan point std::vector<double> yaw_fp(N_SCANS, 0.0); // yaw of first scan point
std::vector<float> yaw_last(N_SCANS, 0.0); // yaw of last scan point std::vector<float> yaw_last(N_SCANS, 0.0); // yaw of last scan point

2
src/preprocess.h
View File

@ -94,7 +94,7 @@ class Preprocess
PointCloudXYZI pl_full, pl_corn, pl_surf; PointCloudXYZI pl_full, pl_corn, pl_surf;
PointCloudXYZI pl_buff[128]; //maximum 128 line lidar PointCloudXYZI pl_buff[128]; //maximum 128 line lidar
vector<orgtype> typess[128]; //maximum 128 line lidar vector<orgtype> typess[128]; //maximum 128 line lidar
int lidar_type, point_filter_num, N_SCANS;; int lidar_type, point_filter_num, N_SCANS, SCAN_RATE;
double blind; double blind;
bool feature_enabled, given_offset_time; bool feature_enabled, given_offset_time;
ros::Publisher pub_full, pub_surf, pub_corn; ros::Publisher pub_full, pub_surf, pub_corn;