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jyakaranda
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ImageProjection ok
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6 files changed

+286
-14
lines changed

6 files changed

+286
-14
lines changed

‎README.md

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# A-LeGO-LOAM
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# A-LeGO-LOAM
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## ImageProjection
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这 outlier 也太多了（将近 1/3），而且原始数据中有很多点相邻太近（将近一半），不知道是不是雷达的问题

‎include/imageProjection.h

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@@ -21,7 +21,7 @@ class ImageProjection : public nodelet::Nodelet
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PointCloudT::Ptr outlier_cloud_;
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Eigen::Matrix<float, N_SCAN, Horizon_SCAN> range_mat_;
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Eigen::Matrix<bool, N_SCAN, Horizon_SCAN> label_mat_;
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Eigen::Matrix<int, N_SCAN, Horizon_SCAN> label_mat_;
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Eigen::Matrix<bool, N_SCAN, Horizon_SCAN> ground_mat_;
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int label_cnt_;

‎include/utility.h

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@@ -38,7 +38,7 @@
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using PointT = pcl::PointXYZI;
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using PointCloudT = pcl::PointCloud<PointT>;
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#define RAD2ANGLE(x) ((x) / M_PI * 180.0)
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#define RAD2ANGLE(x) ((x) * 180.0 / M_PI)
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#define ANGLE2RAD(x) ((x) / 180.0 * M_PI)
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const int N_SCAN = 16;
@@ -57,6 +57,9 @@ const float seg_theta = 1.0472;
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const int seg_valid_point_num = 5;
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const int seg_valid_line_num = 3;
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const bool use_imu = true;
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const bool use_odom = true;
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class TicToc
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{
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public:

‎launch/test.launch

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<param name="use_sim_time" value="true" />
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<node pkg="nodelet" type="nodelet" name="lego_manager" args="manager" output="screen" />
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<node pkg="nodelet" type="nodelet" name="ImageProjection" args="load loam/ImageProjection lego_manager" output="screen" />
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<node pkg="nodelet" type="nodelet" name="lego_manager" args="manager" output="log" />
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<node pkg="nodelet" type="nodelet" name="ImageProjection" args="load loam/ImageProjection lego_manager" output="log" />
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</launch>

‎rviz/test.rviz

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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 773
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ground
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 0.699999988
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: false
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Name: Map
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Topic: /realtime_cost_map
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Unreliable: false
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Use Timestamp: false
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 0; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 255
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Min Color: 0; 0; 0
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Min Intensity: 4
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Name: lslidar
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.0500000007
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Style: Flat Squares
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Topic: /lslidar_point_cloud
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 255
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Min Color: 0; 0; 0
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Min Intensity: 4
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Name: ground
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 1
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Size (m): 0.100000001
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Style: Flat Squares
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Topic: /ground
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 15.1721001
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Min Color: 0; 0; 0
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Min Intensity: 9.99999975e-05
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Name: segmented
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.100000001
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Style: Flat Squares
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Topic: /segmented_cloud
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 15.1964998
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Min Color: 0; 0; 0
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Min Intensity: 8.00450039
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Name: outlier
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.0500000007
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Style: Flat Squares
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Topic: /outlier
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: laser
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 77.0821152
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 2.85808182
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Y: 1.35583115
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Z: 3.23869038
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.864796996
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 2.12711835
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1053
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000393fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000393000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000393000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007320000003efc0100000002fb0000000800540069006d00650100000000000007320000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ad0000039300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1842
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X: 78
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Y: 27

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