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小改动
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nkymzsy committed Jun 13, 2022
1 parent bcdb7fc commit 34cba9e
Showing 7 changed files with 31 additions and 11 deletions.
7 changes: 7 additions & 0 deletions README.md
Original file line number Diff line number Diff line change
@@ -26,11 +26,18 @@ roslaunch lio_sam run6axis.launch
roslaunch lio_sam run9axis.launch
```

## Test

- 室内环境旋转测试

<img src="doc/indorTest.gif" style="zoom: 100%;"/>

## Note

- 注意对齐Lidar与IMU的时间戳。
- 使用非自带IMU注意修改Lidai与IMU的外参。(param.yaml文件)
- 六轴IMU默认使用MID360内置的IMU,加速度单位为g,处理时乘重力加速度转换为m/s^2,如果使用其他六轴IMU需要注释这条语句。
- 如果观察到IMU里程计抖动的话,请调节IMU参数

## TODO

Binary file added doc/indorTest.gif
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24 changes: 13 additions & 11 deletions launch/include/config/rviz.rviz
Original file line number Diff line number Diff line change
@@ -8,6 +8,7 @@ Panels:
- /links1
- /Odometry1
- /Point Cloud1
- /Point Cloud1/Reg Cloud1
- /Feature Cloud1/Edge Feature1
Splitter Ratio: 0.5600000023841858
Tree Height: 710
@@ -219,7 +220,7 @@ Visualization Manager:
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (Pixels): 4
Size (m): 0.009999999776482582
Style: Points
Topic: /lio_sam/mapping/cloud_registered
@@ -456,7 +457,8 @@ Visualization Manager:
Marker Topic: /lio_sam/mapping/loop_closure_constraints
Name: Loop constraint
Namespaces:
{}
loop_edges: true
loop_nodes: true
Queue Size: 100
Value: true
Enabled: true
@@ -477,33 +479,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 24.02814483642578
Distance: 72.95783233642578
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.6513515710830688
Y: 0.8888353109359741
Z: 0.7098098993301392
X: 10.746774673461914
Y: 6.741519927978516
Z: -0.6399549245834351
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.1747964471578598
Pitch: 0.6297959089279175
Target Frame: base_link
Value: Orbit (rviz)
Yaw: 2.7556324005126953
Yaw: 2.275646209716797
Saved: ~
Window Geometry:
Displays:
collapsed: false
collapsed: true
Height: 1052
Hide Left Dock: false
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001a3000003c2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000002e000001340000000000000000fb000000100044006900730070006c006100790073010000003d000003c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000286000000a70000005c00ffffff000000010000011100000435fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002e00000435000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b000000040fc0100000002fb0000000800540069006d00650000000000000004b00000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005ac000003c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001a3000003c2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d006100670065000000002e000001340000000000000000fb000000100044006900730070006c006100790073000000003d000003c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000286000000a70000005c00ffffff000000010000011100000435fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002e00000435000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b000000040fc0100000002fb0000000800540069006d00650000000000000004b00000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000755000003c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
3 changes: 3 additions & 0 deletions src/featureExtraction.cpp
Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
#include "utility.h"
#include "lio_sam/cloud_info.h"

//Zeng Shengyao: [email protected]
//本代码为LIO-SAM适配Mid360版本,支持六轴和九轴IMU

struct smoothness_t{
float value;
size_t ind;
2 changes: 2 additions & 0 deletions src/imageProjection.cpp
Original file line number Diff line number Diff line change
@@ -2,6 +2,8 @@
#include "lio_sam/cloud_info.h"
#include "livox_ros_driver/CustomMsg.h"

//Zeng Shengyao: [email protected]
//本代码为LIO-SAM适配Mid360版本,支持六轴和九轴IMU
struct VelodynePointXYZIRT
{
PCL_ADD_POINT4D
3 changes: 3 additions & 0 deletions src/imuPreintegration.cpp
Original file line number Diff line number Diff line change
@@ -16,6 +16,9 @@
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h>

//Zeng Shengyao: [email protected]
//本代码为LIO-SAM适配Mid360版本,支持六轴和九轴IMU

using gtsam::symbol_shorthand::X; // Pose3 (x,y,z,r,p,y)
using gtsam::symbol_shorthand::V; // Vel (xdot,ydot,zdot)
using gtsam::symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz)
3 changes: 3 additions & 0 deletions src/mapOptmization.cpp
Original file line number Diff line number Diff line change
@@ -17,6 +17,9 @@

#include <gtsam/nonlinear/ISAM2.h>

//Zeng Shengyao: [email protected]
//本代码为LIO-SAM适配Mid360版本,支持六轴和九轴IMU

using namespace gtsam;

using symbol_shorthand::X; // Pose3 (x,y,z,r,p,y)

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