mirrors/FAST_LIO
1
0
Fork 0
mirror of https://github.com/hku-mars/FAST_LIO.git synced 2023-04-06 16:28:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix the scan time calculation bug and change the definition of blind to the 'minimum range'.

Browse Source
This commit is contained in:
xw
2021-08-25 03:05:43 -04:00
parent dcc38885ac
commit 94973cb309
6 changed files with 82 additions and 60 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/IMU_Processing.hpp
View File

@@ -219,11 +219,11 @@ void ImuProcess::UndistortPcl(const MeasureGroup &meas, esekfom::esekf<state_ikf
const double &imu_beg_time = v_imu.front()->header.stamp.toSec();
const double &imu_end_time = v_imu.back()->header.stamp.toSec();
const double &pcl_beg_time = meas.lidar_beg_time;
const double &pcl_end_time = meas.lidar_end_time;
/*** sort point clouds by offset time ***/
pcl_out = *(meas.lidar);
sort(pcl_out.points.begin(), pcl_out.points.end(), time_list);
const double &pcl_end_time = pcl_beg_time + pcl_out.points.back().curvature / double(1000);
// cout<<"[ IMU Process ]: Process lidar from "<<pcl_beg_time<<" to "<<pcl_end_time<<", " \
// <<meas.imu.size()<<" imu msgs from "<<imu_beg_time<<" to "<<imu_end_time<<endl;