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更改为适用于KITTI数据集的版本 #287

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更改为适用于KITTI数据集的版本 #287

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6e9d0d6
更改为适用于KITTI数据集的版本
Pasley915 Aug 17, 2024
73bb9ec
添加了保存为tum格式文件的相关内容
Pasley915 Aug 17, 2024
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31 changes: 12 additions & 19 deletions LeGO-LOAM/include/utility.h
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Original file line number Diff line number Diff line change
Expand Up @@ -60,12 +60,20 @@ extern const string fileDirectory = "/tmp/";
extern const bool useCloudRing = true; // if true, ang_res_y and ang_bottom are not used

// VLP-16
extern const int N_SCAN = 16;
//extern const int N_SCAN = 16;
//extern const int Horizon_SCAN = 1800;
//extern const float ang_res_x = 0.2;
//extern const float ang_res_y = 2.0;
//extern const float ang_bottom = 15.0+0.1;
//extern const int groundScanInd = 7;

//Vel 64
extern const int N_SCAN = 64;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 2.0;
extern const float ang_bottom = 15.0+0.1;
extern const int groundScanInd = 7;
extern const float ang_res_y = 0.427;
extern const float ang_bottom = 24.9;
extern const int groundScanInd = 50;

// HDL-32E
// extern const int N_SCAN = 32;
Expand Down Expand Up @@ -147,22 +155,7 @@ struct by_value{
}
};

/*
* A point cloud type that has "ring" channel
*/
struct PointXYZIR
{
PCL_ADD_POINT4D
PCL_ADD_INTENSITY;
uint16_t ring;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;

POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZIR,
(float, x, x) (float, y, y)
(float, z, z) (float, intensity, intensity)
(uint16_t, ring, ring)
)

/*
* A point cloud type that has 6D pose info ([x,y,z,roll,pitch,yaw] intensity is time stamp)
Expand Down