mirrors/FAST_LIO_LOCALIZATION
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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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44
src/laserMapping.cpp
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@@ -70,7 +70,7 @@ double kdtree_incremental_time = 0.0, kdtree_search_time = 0.0, kdtree_delete_ti
double T1[MAXN], s_plot[MAXN], s_plot2[MAXN], s_plot3[MAXN], s_plot4[MAXN], s_plot5[MAXN], s_plot6[MAXN], s_plot7[MAXN], s_plot8[MAXN], s_plot9[MAXN], s_plot10[MAXN], s_plot11[MAXN];
double match_time = 0, solve_time = 0, solve_const_H_time = 0;
int kdtree_size_st = 0, kdtree_size_end = 0, add_point_size = 0, kdtree_delete_counter = 0;
bool runtime_pos_log = false, pcd_save_en = false;
bool runtime_pos_log = false, pcd_save_en = false, time_sync_en = false;
/**************************/
float res_last[100000] = {0.0};
@@ -284,22 +284,37 @@ void standard_pcl_cbk(const sensor_msgs::PointCloud2::ConstPtr &msg)
sig_buffer.notify_all();
}
double timediff_lidar_wrt_imu = 0.0;
bool timediff_set_flg = false;
void livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg)
{
mtx_buffer.lock();
scan_count ++;
double preprocess_start_time = omp_get_wtime();
cout<<"lidar got at: "<<msg->header.stamp.toSec()<<endl;
scan_count ++;
if (msg->header.stamp.toSec() < last_timestamp_lidar)
{
ROS_ERROR("lidar loop back, clear buffer");
lidar_buffer.clear();
}
last_timestamp_lidar = msg->header.stamp.toSec();
if (!time_sync_en && abs(last_timestamp_imu - lidar_end_time) > 10.0)
{
printf("IMU and LiDAR not Synced, IMU time: %lf, lidar scan end time: %lf",last_timestamp_imu, lidar_end_time);
}
if (time_sync_en && !timediff_set_flg && abs(last_timestamp_lidar - last_timestamp_imu) > 1 && !imu_buffer.empty())
{
timediff_set_flg = true;
timediff_lidar_wrt_imu = last_timestamp_lidar + 0.1 - last_timestamp_imu;
printf("Self sync IMU and LiDAR, time diff is %.10lf \n", timediff_lidar_wrt_imu);
}
PointCloudXYZI::Ptr ptr(new PointCloudXYZI());
p_pre->process(msg, ptr);
lidar_buffer.push_back(ptr);
time_buffer.push_back(msg->header.stamp.toSec());
last_timestamp_lidar = msg->header.stamp.toSec();
time_buffer.push_back(last_timestamp_lidar);
s_plot11[scan_count] = omp_get_wtime() - preprocess_start_time;
mtx_buffer.unlock();
sig_buffer.notify_all();
@@ -308,18 +323,23 @@ void livox_pcl_cbk(const livox_ros_driver::CustomMsg::ConstPtr &msg)
void imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in)
{
publish_count ++;
cout<<"IMU got at: "<<msg_in->header.stamp.toSec()<<endl;
// cout<<"IMU got at: "<<msg_in->header.stamp.toSec()<<endl;
sensor_msgs::Imu::Ptr msg(new sensor_msgs::Imu(*msg_in));
if (abs(timediff_lidar_wrt_imu) > 0.1 && time_sync_en)
{
msg->header.stamp = \
ros::Time().fromSec(timediff_lidar_wrt_imu + msg_in->header.stamp.toSec());
}
double timestamp = msg->header.stamp.toSec();
mtx_buffer.lock();
if (timestamp < last_timestamp_imu)
{
ROS_ERROR("imu loop back, clear buffer");
ROS_WARN("imu loop back, clear buffer");
imu_buffer.clear();
flg_reset = true;
}
last_timestamp_imu = timestamp;
@@ -349,11 +369,6 @@ bool sync_packages(MeasureGroup &meas)
lidar_pushed = true;
}
if (abs(last_timestamp_imu - lidar_end_time) > 10.0)
{
printf("IMU and LiDAR not Synced, IMU time: %lf, lidar scan end time: %lf",last_timestamp_imu, lidar_end_time);
}
if (last_timestamp_imu < lidar_end_time)
{
return false;
@@ -439,7 +454,6 @@ void publish_frame_world(const ros::Publisher & pubLaserCloudFullRes)
{
RGBpointBodyToWorld(&laserCloudFullRes->points[i], \
&laserCloudWorld->points[i]);
cout<<laserCloudWorld->points[i].intensity<<endl;
}
// *pcl_wait_pub += *laserCloudWorld;
@@ -664,6 +678,7 @@ int main(int argc, char** argv)
nh.param<string>("map_file_path",map_file_path,"");
nh.param<string>("common/lid_topic",lid_topic,"/livox/lidar");
nh.param<string>("common/imu_topic", imu_topic,"/livox/imu");
nh.param<bool>("common/time_sync_en", time_sync_en, false);
nh.param<double>("filter_size_corner",filter_size_corner_min,0.5);
nh.param<double>("filter_size_surf",filter_size_surf_min,0.5);
nh.param<double>("filter_size_map",filter_size_map_min,0.5);
@@ -761,6 +776,7 @@ int main(int argc, char** argv)
ROS_WARN("reset when rosbag play back");
p_imu->Reset();
flg_reset = false;
Measures.imu.clear();
continue;
}

4
src/preprocess.cpp
View File

@@ -89,7 +89,7 @@ void Preprocess::avia_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg)
{
for(uint i=1; i<plsize; i++)
{
if((msg->points[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10))
if((msg->points[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00))
{
pl_full[i].x = msg->points[i].x;
pl_full[i].y = msg->points[i].y;
@@ -138,7 +138,7 @@ void Preprocess::avia_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg)
{
for(uint i=1; i<plsize; i++)
{
if((msg->points[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10))
if((msg->points[i].line < N_SCANS) && ((msg->points[i].tag & 0x30) == 0x10 || (msg->points[i].tag & 0x30) == 0x00))
{
valid_num ++;
if (valid_num % point_filter_num == 0)