固态激光雷达zvision_lidar lio-sam与fast-lio2对比

最新推荐文章于 2024-06-26 15:37:29 发布

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最新推荐文章于 2024-06-26 15:37:29 发布 · 1.6k 阅读

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#服务器 #linux #运维

文章讲述了fast-lio2在固态激光雷达上的优化，包括特征提取、去畸变、地面点去除和面特征处理的改进，提高了处理速度和鲁棒性。

机械式激光雷达，可以根据ring提取边和面特征，固态式激光雷达实现特征检查需要的工作比较多，可以将降采样的都做为面特征进行处理。lio-sam添加固态雷达代码：

一、imageProjection.cpp

(sensor == SensorType::ZVISION) {
            pcl::moveFromROSMsg(currentCloudMsg, *tmpOusterCloudIn);
            laserCloudIn->points.resize(tmpOusterCloudIn->size());
            laserCloudIn->is_dense = tmpOusterCloudIn->is_dense;
            for (size_t i = 0; i < tmpOusterCloudIn->size(); i++) {
                auto &src = tmpOusterCloudIn->points[i];
                auto &dst = laserCloudIn->points[i];
                dst.x = src.x;
                dst.y = src.y;
                dst.z = src.z;
                dst.intensity = src.intensity;
                //dst.ring = src.ring;
                dst.time = src.t * 1e-9f; //ms
            }
        }

取消ring检测

if (ringFlag == 0 && sensor != SensorType::ZVISION) {
            ringFlag = -1;
            for (int i = 0; i < (int)currentCloudMsg.fields.size(); ++i) {
                if (currentCloudMsg.fields[i].name == "ring") {
                    ringFlag = 1;
                    break;
                }
            }
            if (ringFlag == -1) {
                ROS_ERROR("Point cloud ring channel not available, please configure your point cloud data!");
                ros::shutdown();
            }
        }

取消去畸变

void projectPointCloud() {
        int cloudSize = laserCloudIn->points.size();
        fullCloud->clear();
        // range image projection
        for (int i = 0; i < cloudSize; ++i) {
            PointType thisPoint;
            thisPoint.x = laserCloudIn->points[i].x;
            thisPoint.y = laserCloudIn->points[i].y;
            thisPoint.z = laserCloudIn->points[i].z;
            thisPoint.intensity = laserCloudIn->points[i].intensity;

            float range = pointDistance(thisPoint);
            if (range < lidarMinRange || range > lidarMaxRange)
                continue;
            if (thisPoint.z < lidarLowRange) //去除地面点
                continue;

            if (sensor != SensorType::ZVISION) {
                int rowIdn = laserCloudIn->points[i].ring;
                if (rowIdn < 0 || rowIdn >= N_SCAN)
                    continue;

                if (rowIdn % downsampleRate != 0)
                    continue;

                int columnIdn = -1;
                if (sensor == SensorType::VELODYNE || sensor == SensorType::OUSTER) {
                    float horizonAngle = atan2(thisPoint.x, thisPoint.y) * 180 / M_PI;
                    static float ang_res_x = 360.0 / float