add timestamp unit setup

README.md

@@ -123,9 +123,10 @@ Edit ``` config/velodyne.yaml ``` to set the below parameters:
 
 1. LiDAR point cloud topic name: ``` lid_topic ```
 2. IMU topic name: ``` imu_topic ``` (both internal and external, 6-aixes or 9-axies are fine)
-3. Line number (we tested 16, 32 and 64 line, but not tested 128 or above): ``` scan_line ```
+3. Set the parameter ```timestamp_unit``` based on the unit of **time** (Velodyne) or **t** (Ouster) field in PoindCloud2 rostopic
-4. Translational extrinsic: ``` extrinsic_T ```
+4. Line number (we tested 16, 32 and 64 line, but not tested 128 or above): ``` scan_line ```
-5. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix)
+5. Translational extrinsic: ``` extrinsic_T ```
+6. Rotational extrinsic: ``` extrinsic_R ``` (only support rotation matrix)
 - The extrinsic parameters in FAST-LIO is defined as the LiDAR's pose (position and rotation matrix) in IMU body frame (i.e. the IMU is the base frame).
 
 Step B: Run below

config/ouster64.yaml

@@ -6,6 +6,7 @@ common:
 preprocess:
     lidar_type: 3                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
     scan_line: 64
+    timestamp_unit: 3                 # 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
     blind: 4
 
 mapping:

config/velodyne.yaml

@@ -7,7 +7,8 @@ preprocess:
     lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
     scan_line: 32
     scan_rate: 10                # only need to be set for velodyne, unit: Hz,
-    blind: 4
+    timestamp_unit: 2            # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
+    blind: 2
 
 mapping:
     acc_cov: 0.1

rviz_cfg/loam_livox.rviz

@@ -16,7 +16,7 @@ Panels:
         - /Odometry1/Odometry1/Covariance1/Orientation1
         - /MarkerArray1/Namespaces1
       Splitter Ratio: 0.6432291865348816
-    Tree Height: 1144
+    Tree Height: 811
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -85,9 +85,7 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 159
           Min Color: 238; 238; 236
-          Min Intensity: 0
           Name: surround
           Position Transformer: XYZ
           Queue Size: 1
@@ -100,7 +98,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-        - Alpha: 0.15000000596046448
+        - Alpha: 0.10000000149011612
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
             Max Value: 15
@@ -115,9 +113,7 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: true
           Max Color: 255; 255; 255
-          Max Intensity: 159
           Min Color: 0; 0; 0
-          Min Intensity: 0
           Name: currPoints
           Position Transformer: XYZ
           Queue Size: 100000
@@ -145,9 +141,7 @@ Visualization Manager:
           Enabled: false
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 151
           Min Color: 0; 0; 0
-          Min Intensity: 0
           Name: PointCloud2
           Position Transformer: XYZ
           Queue Size: 10
@@ -275,9 +269,7 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 138; 226; 52
-      Max Intensity: 248
       Min Color: 138; 226; 52
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
@@ -326,33 +318,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 135.68701171875
+      Distance: 46.0853271484375
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 11.471270561218262
+        X: -4.982542037963867
-        Y: 33.732704162597656
+        Y: -15.83572006225586
-        Z: -18.399494171142578
+        Z: -3.063523054122925
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.04979678615927696
+      Pitch: 0.399796724319458
       Target Frame: global
       Value: Orbit (rviz)
-      Yaw: 4.707205772399902
+      Yaw: 1.277182698249817
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1383
+  Height: 1028
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001c8000004b5fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000061f00000052fc0100000002fb0000000800540069006d006501000000000000061f000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000451000004b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c800000368fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000368000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000061f00000052fc0100000002fb0000000800540069006d006501000000000000061f000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004510000036800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -363,4 +355,4 @@ Window Geometry:
     collapsed: true
   Width: 1567
   X: 67
-  Y: 27
+  Y: 24

src/IMU_Processing.hpp

@@ -26,7 +26,7 @@
 
 /// *************Preconfiguration
 
-#define MAX_INI_COUNT (20)
+#define MAX_INI_COUNT (10)
 
 const bool time_list(PointType &x, PointType &y) {return (x.curvature < y.curvature);};
 

src/laserMapping.cpp

@@ -773,6 +773,7 @@ int main(int argc, char** argv)
     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/timestamp_unit", p_pre->time_unit, US);
     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<bool>("feature_extract_enable", p_pre->feature_enabled, false);

src/preprocess.cpp

@@ -49,6 +49,25 @@ void Preprocess::process(const livox_ros_driver::CustomMsg::ConstPtr &msg, Point
 
 void Preprocess::process(const sensor_msgs::PointCloud2::ConstPtr &msg, PointCloudXYZI::Ptr &pcl_out)
 {
+  switch (time_unit)
+  {
+    case SEC:
+      time_unit_scale = 1.e3f;
+      break;
+    case MS:
+      time_unit_scale = 1.f;
+      break;
+    case US:
+      time_unit_scale = 1.e-3f;
+      break;
+    case NS:
+      time_unit_scale = 1.e-6f;
+      break;
+    default:
+      time_unit_scale = 1.f;
+      break;
+  }
+
   switch (lidar_type)
   {
   case OUST64:
@@ -200,7 +219,7 @@ void Preprocess::oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
       if (yaw_angle <= -180.0)
         yaw_angle += 360.0;
 
-      added_pt.curvature = pl_orig.points[i].t / 1e6;
+      added_pt.curvature = pl_orig.points[i].t * time_unit_scale;
       if(pl_orig.points[i].ring < N_SCANS)
       {
         pl_buff[pl_orig.points[i].ring].push_back(added_pt);
@@ -249,7 +268,7 @@ void Preprocess::oust64_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
       added_pt.normal_x = 0;
       added_pt.normal_y = 0;
       added_pt.normal_z = 0;
-      added_pt.curvature = pl_orig.points[i].t / 1e6; // curvature unit: ms
+      added_pt.curvature = pl_orig.points[i].t * time_unit_scale; // curvature unit: ms
 
       pl_surf.points.push_back(added_pt);
     }
@@ -318,7 +337,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
         added_pt.y = pl_orig.points[i].y;
         added_pt.z = pl_orig.points[i].z;
         added_pt.intensity = pl_orig.points[i].intensity;
-        added_pt.curvature = pl_orig.points[i].time / 1000.0; // units: ms
+        added_pt.curvature = pl_orig.points[i].time * time_unit_scale; // units: ms
 
         if (!given_offset_time)
         {
@@ -387,7 +406,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
         added_pt.y = pl_orig.points[i].y;
         added_pt.z = pl_orig.points[i].z;
         added_pt.intensity = pl_orig.points[i].intensity;
-        added_pt.curvature = pl_orig.points[i].time / 1000.0;  // curvature unit: ms
+        added_pt.curvature = pl_orig.points[i].time * time_unit_scale;  // curvature unit: ms // cout<<added_pt.curvature<<endl;
 
         if (!given_offset_time)
         {

src/preprocess.h

@@ -11,6 +11,7 @@ typedef pcl::PointXYZINormal PointType;
 typedef pcl::PointCloud<PointType> PointCloudXYZI;
 
 enum LID_TYPE{AVIA = 1, VELO16, OUST64}; //{1, 2, 3}
+enum TIME_UNIT{SEC = 0, MS = 1, US = 2, NS = 3};
 enum Feature{Nor, Poss_Plane, Real_Plane, Edge_Jump, Edge_Plane, Wire, ZeroPoint};
 enum Surround{Prev, Next};
 enum E_jump{Nr_nor, Nr_zero, Nr_180, Nr_inf, Nr_blind};
@@ -94,7 +95,8 @@ class Preprocess
   PointCloudXYZI pl_full, pl_corn, pl_surf;
   PointCloudXYZI pl_buff[128]; //maximum 128 line lidar
   vector<orgtype> typess[128]; //maximum 128 line lidar
-  int lidar_type, point_filter_num, N_SCANS, SCAN_RATE;
+  float time_unit_scale;
+  int lidar_type, point_filter_num, N_SCANS, SCAN_RATE, time_unit;
   double blind;
   bool feature_enabled, given_offset_time;
   ros::Publisher pub_full, pub_surf, pub_corn;