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FAST-LIO 1 updated

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This commit is contained in:
weiBUAA
2021-01-14 15:33:31 +08:00
parent fc3f451f2a
commit 487dcb01cb
9 changed files with 875 additions and 466 deletions
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182
rviz_cfg/loam_livox.rviz
View File

@@ -1,6 +1,6 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
@@ -11,6 +11,7 @@ Panels:
- /mapping1/surround1
- /mapping1/currPoints1
- /mapping1/PointCloud21
- /mapping1/PointCloud22
- /Debug1/PointCloud21
- /Debug1/PointCloud22
- /Debug1/PointCloud23
@@ -20,17 +21,14 @@ Panels:
- /Odometry1/Odometry2/Shape1
- /Odometry1/Odometry3
- /Odometry1/Odometry3/Shape1
- /Features1
- /Features1/PointCloud21
- /Features1/PointCloud22
- /Features1/PointCloud23
- /Axes2
- /Odometry2
- /Odometry2/Shape1
- /Marker1
- /PointStamped1
Splitter Ratio: 0.5
Tree Height: 1066
- /Path1
Splitter Ratio: 0.520588219165802
Tree Height: 839
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@@ -57,7 +55,7 @@ Toolbars:
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
- Alpha: 1
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
@@ -77,9 +75,9 @@ Visualization Manager:
Value: false
- Class: rviz/Axes
Enabled: true
Length: 0.5
Length: 0.699999988079071
Name: Axes
Radius: 0.10000000149011612
Radius: 0.05999999865889549
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Group
@@ -161,29 +159,6 @@ Visualization Manager:
Name: odometry
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 10000
Class: rviz/Path
Color: 255; 85; 0
Enabled: false
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: mappingPath
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: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
@@ -206,7 +181,7 @@ Visualization Manager:
Position Transformer: XYZ
Queue Size: 1
Selectable: false
Size (Pixels): 4
Size (Pixels): 2
Size (m): 0.05000000074505806
Style: Points
Topic: /cloud_registered
@@ -214,11 +189,11 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.20000000298023224
- Alpha: 0.10000000149011612
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.32742905616760254
Min Value: -2.179872751235962
Max Value: 7.485495090484619
Min Value: -0.6337304711341858
Value: true
Axis: Z
Channel Name: intensity
@@ -245,6 +220,36 @@ 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
@@ -253,26 +258,26 @@ Visualization Manager:
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Color: 239; 41; 41
Color Transformer: FlatColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 0; 0
Max Intensity: 152
Min Color: 255; 0; 0
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Queue Size: 1
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /Laser_map
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Use rainbow: true
Value: false
Enabled: true
Name: mapping
@@ -500,7 +505,7 @@ Visualization Manager:
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 5
Size (Pixels): 7
Size (m): 0.20000000298023224
Style: Points
Topic: /laser_cloud_flat
@@ -523,7 +528,7 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 78; 154; 6
Max Intensity: 155
Max Intensity: 0
Min Color: 78; 154; 6
Min Intensity: 0
Name: PointCloud2
@@ -531,7 +536,7 @@ Visualization Manager:
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.05999999865889549
Size (m): 0.07999999821186066
Style: Flat Squares
Topic: /livox_undistort
Unreliable: false
@@ -553,7 +558,7 @@ Visualization Manager:
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 160
Max Intensity: 155
Min Color: 255; 255; 255
Min Intensity: 0
Name: PointCloud2
@@ -568,13 +573,13 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: false
Value: false
Enabled: true
Enabled: false
Name: Features
- Class: rviz/Axes
Enabled: true
Length: 1
Length: 0.699999988079071
Name: Axes
Radius: 0.10000000149011612
Radius: 0.05999999865889549
Reference Frame: aft_mapped
Value: true
- Angle Tolerance: 0.10000000149011612
@@ -594,7 +599,7 @@ Visualization Manager:
Scale: 1
Value: true
Value: true
Enabled: true
Enabled: false
Keep: 10000
Name: Odometry
Position Tolerance: 0.10000000149011612
@@ -610,25 +615,42 @@ Visualization Manager:
Value: Arrow
Topic: /aft_mapped_to_init
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: false
Marker Topic: visualization_marker
Name: Marker
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 41; 204
- Alpha: 0
Buffer Length: 2
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
History Length: 1
Name: PointStamped
Radius: 0.20000000298023224
Topic: /clicked_point
Head Diameter: 0
Head Length: 0
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 25; 255; 0
Pose Style: Arrows
Radius: 0.029999999329447746
Shaft Diameter: 0.15000000596046448
Shaft Length: 0.15000000596046448
Topic: /path
Unreliable: false
Value: true
- Class: rviz/Image
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
Unreliable: false
Value: false
Enabled: true
Global Options:
Background Color: 0; 0; 0
@@ -657,33 +679,35 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 34.710601806640625
Distance: 49.2824821472168
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 6.49392557144165
Y: -0.4694555699825287
Z: -1.3836920261383057
X: 9.622546195983887
Y: -18.686565399169922
Z: -4.2439751625061035
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3497962951660156
Pitch: 0.8597958087921143
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.425689220428467
Yaw: 2.7072019577026367
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1383
Height: 1056
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000156000004b5fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000618000001a800000000000000000000000100000152000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004df00000052fc0100000002fb0000000800540069006d00650100000000000004df000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000383000004b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000026d00000384fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000384000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001aa000001e20000001600fffffffb0000000a0049006d00610067006501000002730000027f00000000000000000000000100000152000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074900000052fc0100000002fb0000000800540069006d0065010000000000000749000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d60000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -692,6 +716,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1247
X: 67
Y: 27
Width: 1865
X: 55
Y: 24