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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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4
src/preprocess.cpp
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@@ -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)