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fast_lio2 released!

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xw
2021-07-04 10:17:41 -04:00
parent 6e1fa94351
commit 1087a72497
44 changed files with 7155 additions and 2973 deletions
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602
rviz_cfg/loam_livox.rviz
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@@ -5,30 +5,19 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /Axes1
- /odometry1/odomPath1
- /mapping1
- /mapping1/surround1
- /mapping1/currPoints1
- /mapping1/PointCloud21
- /mapping1/PointCloud22
- /Debug1/PointCloud21
- /Debug1/PointCloud22
- /Debug1/PointCloud23
- /mapping1/currPoints1/Autocompute Value Bounds1
- /Odometry1
- /Odometry1/Odometry1
- /Odometry1/Odometry1/Shape1
- /Odometry1/Odometry2
- /Odometry1/Odometry2/Shape1
- /Odometry1/Odometry3
- /Odometry1/Odometry3/Shape1
- /Features1/PointCloud21
- /Features1/PointCloud22
- /Features1/PointCloud23
- /Axes2
- /Odometry2/Shape1
- /Path1
Splitter Ratio: 0.520588219165802
Tree Height: 839
- /Odometry1/Odometry1/Covariance1
- /Odometry1/Odometry1/Covariance1/Position1
- /Odometry1/Odometry1/Covariance1/Orientation1
- /MarkerArray1/Namespaces1
Splitter Ratio: 0.6432291865348816
Tree Height: 1146
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -47,7 +36,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
SyncSource: currPoints
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -56,7 +45,7 @@ Visualization Manager:
Class: ""
Displays:
- Alpha: 1
Cell Size: 1
Cell Size: 1000
Class: rviz/Grid
Color: 160; 160; 164
Enabled: false
@@ -70,93 +59,16 @@ Visualization Manager:
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 160
Plane Cell Count: 40
Reference Frame: <Fixed Frame>
Value: false
- Class: rviz/Axes
Enabled: true
Enabled: false
Length: 0.699999988079071
Name: Axes
Radius: 0.05999999865889549
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 170; 0
Enabled: false
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: gtPathlc
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /path_gt
Unreliable: false
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 170; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: gtPathLidar
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /path_gt_lidar
Unreliable: false
Value: true
Enabled: false
Name: GT
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 85; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.10000000149011612
Name: odomPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /laser_odom_path
Unreliable: false
Value: true
Enabled: false
Name: odometry
Value: false
- Class: rviz/Group
Displays:
- Alpha: 1
@@ -168,20 +80,20 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Color: 238; 238; 236
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 15
Max Intensity: 202
Min Color: 0; 0; 0
Min Intensity: 0
Name: surround
Position Transformer: XYZ
Queue Size: 1
Selectable: false
Size (Pixels): 2
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Points
Topic: /cloud_registered
@@ -189,22 +101,22 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.10000000149011612
- Alpha: 0.07000000029802322
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 7.485495090484619
Min Value: -0.6337304711341858
Value: true
Max Value: 15
Min Value: -5
Value: false
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 1e+9
Decay Time: 1000
Enabled: true
Invert Rainbow: true
Max Color: 255; 255; 255
Max Intensity: 90.00662994384766
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: currPoints
@@ -220,36 +132,6 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 5.01795768737793
Min Value: -0.3809538185596466
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 239; 41; 41
Max Intensity: 0
Min Color: 239; 41; 41
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 3
Size (m): 0.05999999865889549
Style: Flat Squares
Topic: /cloud_effected
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: false
- Alpha: 0.800000011920929
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
@@ -258,21 +140,21 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 239; 41; 41
Color: 255; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Max Intensity: 151
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 1
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /Laser_map
Unreliable: false
@@ -281,171 +163,9 @@ Visualization Manager:
Value: false
Enabled: true
Name: mapping
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 100000
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 15.00274658203125
Min Color: 0; 0; 0
Min Intensity: -0.0028979615308344364
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Spheres
Topic: /laser_cloud_sharp
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.305999994277954
Min Value: -0.6200000047683716
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 98; 255; 245
Color Transformer: FlatColor
Decay Time: 1e+6
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 353
Min Color: 0; 0; 0
Min Intensity: 2
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /laser_cloud_flat
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 100000
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 324
Min Color: 0; 0; 0
Min Intensity: 91
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /laser_cloud_less_sharp
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: false
Name: Debug
- Class: rviz/Group
Displays:
- Angle Tolerance: 0.009999999776482582
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1000
Name: Odometry
Position Tolerance: 0.009999999776482582
Shape:
Alpha: 1
Axes Length: 0.5
Axes Radius: 0.009999999776482582
Color: 0; 255; 0
Head Length: 0
Head Radius: 0
Shaft Length: 0.05000000074505806
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic: /re_local_pose
Unreliable: false
Value: true
- Angle Tolerance: 0.009999999776482582
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 10000
Name: Odometry
Position Tolerance: 0.0010000000474974513
Shape:
Alpha: 1
Axes Length: 0.20000000298023224
Axes Radius: 0.05000000074505806
Color: 255; 85; 0
Head Length: 0
Head Radius: 0
Shaft Length: 0.05000000074505806
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /aft_mapped_to_init
Unreliable: false
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
@@ -468,195 +188,123 @@ Visualization Manager:
Position Tolerance: 0.0010000000474974513
Shape:
Alpha: 1
Axes Length: 0.20000000298023224
Axes Radius: 0.05000000074505806
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Axes Length: 1
Axes Radius: 0.20000000298023224
Color: 255; 85; 0
Head Length: 0
Head Radius: 0
Shaft Length: 0.05000000074505806
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /re_local_pose
Topic: /aft_mapped_to_init
Unreliable: false
Value: true
Enabled: false
Enabled: true
Name: Odometry
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 0; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 38.0005989074707
Min Color: 0; 0; 0
Min Intensity: 1.000100016593933
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 7
Size (m): 0.20000000298023224
Style: Points
Topic: /laser_cloud_flat
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 78; 154; 6
Max Intensity: 0
Min Color: 78; 154; 6
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.07999999821186066
Style: Flat Squares
Topic: /livox_undistort
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 155
Min Color: 255; 255; 255
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 3
Size (m): 0.019999999552965164
Style: Flat Squares
Topic: /livox_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: false
Enabled: false
Name: Features
- Class: rviz/Axes
Enabled: true
Length: 0.699999988079071
Name: Axes
Radius: 0.05999999865889549
Reference Frame: aft_mapped
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: false
Keep: 10000
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 0.20000000298023224
Axes Radius: 0.05000000074505806
Color: 25; 255; 255
Head Length: 0
Head Radius: 0
Shaft Length: 0.10000000149011612
Shaft Radius: 0.10000000149011612
Value: Arrow
Topic: /aft_mapped_to_init
Unreliable: false
Value: false
- Alpha: 0
Buffer Length: 2
Class: rviz/Path
Color: 25; 255; 0
Color: 25; 255; 255
Enabled: true
Head Diameter: 0
Head Length: 0
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Line Style: Billboards
Line Width: 0.20000000298023224
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 25; 255; 0
Pose Style: Arrows
Pose Color: 25; 255; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.15000000596046448
Shaft Length: 0.15000000596046448
Shaft Diameter: 0.4000000059604645
Shaft Length: 0.4000000059604645
Topic: /path
Unreliable: false
Value: true
- Class: rviz/Image
- Alpha: 1
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: false
Image Topic: /image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Invert Rainbow: false
Max Color: 239; 41; 41
Max Intensity: 0
Min Color: 239; 41; 41
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 4
Size (m): 0.30000001192092896
Style: Spheres
Topic: /cloud_effected
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 13.139549255371094
Min Value: -32.08251953125
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 138; 226; 52
Color Transformer: FlatColor
Decay Time: 0
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
Selectable: true
Size (Pixels): 3
Size (m): 0.10000000149011612
Style: Flat Squares
Topic: /Laser_map
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /MarkerArray
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: false
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: camera_init
Frame Rate: 30
Frame Rate: 10
Name: root
Tools:
- Class: rviz/Interact
@@ -678,36 +326,34 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 49.2824821472168
Class: rviz/ThirdPersonFollower
Distance: 207.86837768554688
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 9.622546195983887
Y: -18.686565399169922
Z: -4.2439751625061035
X: -66.09013366699219
Y: 46.88283920288086
Z: 3.041166019102093e-5
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.8597958087921143
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 2.7072019577026367
Pitch: 0.8397973775863647
Target Frame: camera_init
Value: ThirdPersonFollower (rviz)
Yaw: 1.4935526847839355
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Height: 1385
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000017900000384fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000384000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001aa000001e20000001600fffffffb0000000a0049006d00610067006501000002730000027f00000000000000000000000100000152000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074900000052fc0100000002fb0000000800540069006d0065010000000000000749000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005ca0000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016b000004b7fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd00000052fc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000084c000004b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -716,6 +362,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1865
X: 55
Y: 24
Width: 2493
X: 67
Y: 27