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fix: Change Velodyne message time handling #53

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fix: Change Velodyne message time handling #53

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6 changes: 3 additions & 3 deletions include/preprocess.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,13 +70,13 @@ struct EIGEN_ALIGN16 Point
{
PCL_ADD_POINT4D;
float intensity;
std::uint32_t t;
float time;
std::uint16_t ring;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace velodyne_ros
POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_ros::Point,
(float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(std::uint32_t, t, t)(std::uint16_t, ring, ring))
(float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(float, time, time)(std::uint16_t, ring, ring))
/****************/

/*** Ouster ***/
Expand Down Expand Up @@ -146,7 +146,7 @@ class Preprocess
PointCloudXYZI pl_full, pl_corn, pl_surf;
PointCloudXYZI pl_buff[128]; // maximum 128 line lidar
vector<orgtype> typess[128]; // maximum 128 line lidar
int lidar_type, point_filter_num, N_SCANS;
int lidar_type, point_filter_num, N_SCANS, SCAN_RATE;

double blind, blind_sqr;
bool feature_enabled, given_offset_time;
Expand Down
1 change: 1 addition & 0 deletions src/LIVMapper.cpp
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Expand Up @@ -87,6 +87,7 @@ void LIVMapper::readParameters(ros::NodeHandle &nh)
nh.param<double>("preprocess/filter_size_surf", filter_size_surf_min, 0.5);
nh.param<int>("preprocess/lidar_type", p_pre->lidar_type, AVIA);
nh.param<int>("preprocess/scan_line", p_pre->N_SCANS, 6);
nh.param<int>("preprocess/scan_rate", p_pre->SCAN_RATE, 10);
nh.param<int>("preprocess/point_filter_num", p_pre->point_filter_num, 3);
nh.param<bool>("preprocess/feature_extract_enabled", p_pre->feature_enabled, false);

Expand Down
14 changes: 6 additions & 8 deletions src/preprocess.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ Preprocess::Preprocess() : feature_enabled(0), lidar_type(AVIA), blind(0.01), po
{
inf_bound = 10;
N_SCANS = 6;
SCAN_RATE = 10;
group_size = 8;
disA = 0.01;
disA = 0.1; // B?
Expand Down Expand Up @@ -344,15 +345,16 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
pcl::PointCloud<velodyne_ros::Point> pl_orig;
pcl::fromROSMsg(*msg, pl_orig);
int plsize = pl_orig.points.size();
if (plsize == 0) return;
pl_surf.reserve(plsize);

bool is_first[MAX_LINE_NUM];
double yaw_fp[MAX_LINE_NUM] = {0}; // yaw of first scan point
double omega_l = 3.61; // scan angular velocity
double omega_l = 0.361 * SCAN_RATE; // scan angular velocity
float yaw_last[MAX_LINE_NUM] = {0.0}; // yaw of last scan point
float time_last[MAX_LINE_NUM] = {0.0}; // last offset time

if (pl_orig.points[plsize - 1].t > 0) { given_offset_time = true; }
if (pl_orig.points[plsize - 1].time > 0) { given_offset_time = true; }
else
{
given_offset_time = false;
Expand Down Expand Up @@ -390,7 +392,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
added_pt.y = pl_orig.points[i].y;
added_pt.z = pl_orig.points[i].z;
added_pt.intensity = pl_orig.points[i].intensity;
added_pt.curvature = pl_orig.points[i].t / 1000.0; // units: ms
added_pt.curvature = pl_orig.points[i].time / 1000.0; // units: ms

if (!given_offset_time)
{
Expand Down Expand Up @@ -453,7 +455,7 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
added_pt.y = pl_orig.points[i].y;
added_pt.z = pl_orig.points[i].z;
added_pt.intensity = pl_orig.points[i].intensity;
added_pt.curvature = pl_orig.points[i].t / 1000.0;
added_pt.curvature = pl_orig.points[i].time / 1000.0;

if (!given_offset_time)
{
Expand All @@ -477,8 +479,6 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)

if (added_pt.curvature < time_last[layer]) added_pt.curvature += 360.0 / omega_l;

// added_pt.curvature = pl_orig.points[i].t;

yaw_last[layer] = yaw_angle;
time_last[layer] = added_pt.curvature;
}
Expand All @@ -491,8 +491,6 @@ void Preprocess::velodyne_handler(const sensor_msgs::PointCloud2::ConstPtr &msg)
if (added_pt.x * added_pt.x + added_pt.y * added_pt.y + added_pt.z * added_pt.z > blind_sqr)
{
pl_surf.points.push_back(added_pt);
// printf("time mode: %d time: %d \n", given_offset_time,
// pl_orig.points[i].t);
}
}
}
Expand Down