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add HDL64 support #11

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e12b14e
modified on linux
YANG-H Sep 27, 2016
9b65b59
modified on windows
YANG-H Sep 27, 2016
c43f92e
merged modifies from windows & linux
YANG-H Sep 27, 2016
ba1d606
add velodyne HDL64E support
YANG-H Sep 28, 2016
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7 changes: 7 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -10,3 +10,10 @@ CMakeFiles
cmake_install.cmake
Makefile

.vscode
.tags*
.idea
.settings
*.VC.db
*.VC.opendb
*.suo
2 changes: 2 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
cmake_minimum_required(VERSION 2.8.3)
project(loam_velodyne)

set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")

find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
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3 changes: 3 additions & 0 deletions include/loam_velodyne/common.h
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Expand Up @@ -45,3 +45,6 @@ inline double deg2rad(double degrees)
{
return degrees * M_PI / 180.0;
}

#define VELODYNE_HDL64E
#define OUTPUT_ALL_POINTCLOUD
3 changes: 1 addition & 2 deletions package.xml
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Expand Up @@ -36,6 +36,5 @@
<test_depend>rostest</test_depend>
<test_depend>rosbag</test_depend>

<export>
</export>
<export></export>
</package>
9 changes: 6 additions & 3 deletions rviz_cfg/loam_velodyne.rviz
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Expand Up @@ -181,8 +181,10 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 162.362
// Class: rviz/ThirdPersonFollower
//Class: rviz/FPS
//Distance: 162.362
Distance: 300
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Expand All @@ -196,7 +198,8 @@ Visualization Manager:
Near Clip Distance: 0.01
Pitch: -1.5698
Target Frame: aft_mapped
Value: ThirdPersonFollower (rviz)
//Value: ThirdPersonFollower (rviz)
Value: default
Yaw: 4.29039
Saved: ~
Window Geometry:
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829 changes: 530 additions & 299 deletions src/laserMapping.cpp
100755 → 100644
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845 changes: 544 additions & 301 deletions src/laserOdometry.cpp
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