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add imu soft sync function but not recommended

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xw
2021-07-07 10:22:56 -04:00
parent 8c50d839dc
commit fd91caf212
8 changed files with 51 additions and 31 deletions
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29
rviz_cfg/loam_livox.rviz
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@@ -9,7 +9,6 @@ Panels:
- /mapping1/surround1
- /mapping1/currPoints1
- /mapping1/currPoints1/Autocompute Value Bounds1
- /Odometry1
- /Odometry1/Odometry1
- /Odometry1/Odometry1/Shape1
- /Odometry1/Odometry1/Covariance1
@@ -86,9 +85,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 255
Max Intensity: 150
Min Color: 0; 0; 0
Min Intensity: 0
Min Intensity: 1
Name: surround
Position Transformer: XYZ
Queue Size: 1
@@ -101,7 +100,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.07000000029802322
- Alpha: 0.10000000149011612
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 15
@@ -327,33 +326,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 122.74785614013672
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 17.150386810302734
Y: 1.2471342086791992
Z: 3.980784458690323e-5
Focal Shape Fixed Size: true
X: 5.284592628479004
Y: -1.0116491317749023
Z: -9.5367431640625e-7
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Invert Z Axis: true
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.189797043800354
Pitch: -0.31460127234458923
Target Frame: camera_init
Value: ThirdPersonFollower (rviz)
Yaw: 3.293565511703491
Yaw: 4.585422039031982
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1385
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016b000004b7fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd00000052fc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000084c000004b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016b000004b7fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000297000001dc0000000000000000fb0000000a0049006d0061006700650000000394000001600000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c70000000000000000fb0000000a0049006d00610067006501000002c5000000c700000000000000000000000100000152000004b7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004b7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd00000052fc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006f4000004b700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -361,7 +360,7 @@ Window Geometry:
Tool Properties:
collapsed: false
Views:
collapsed: true
collapsed: false
Width: 2493
X: 67
Y: 27