Does Fast-lio-1.0 support MId-70? about fast_lio HOT 8 CLOSED

from fast_lio.

@kxch928925819

the default parameter in the code is for MId-40?

case MID:
printf("MID40\n");
sub_points = n.subscribe("/livox/lidar", 1000, mid_handler);
// sub_points = n.subscribe("/livox/lidar_1LVDG1S006J5GZ3", 1000, mid_handler);
break;

n.param("lidar_type", lidar_type, 0);
n.param("blind", blind, 0.5);
n.param("inf_bound", inf_bound, 10);
n.param("N_SCANS", N_SCANS, 1);
n.param("group_size", group_size, 8);
n.param("disA", disA, 0.01);
n.param("disB", disB, 0.1);
n.param("p2l_ratio", p2l_ratio, 400);
n.param("limit_maxmid", limit_maxmid, 9);
n.param("limit_midmin", limit_midmin, 16);
n.param("limit_maxmin", limit_maxmin, 3.24);
n.param("jump_up_limit", jump_up_limit, 175.0);
n.param("jump_down_limit", jump_down_limit, 5.0);
n.param("cos160", cos160, 160.0);
n.param("edgea", edgea, 3);
n.param("edgeb", edgeb, 0.05);
n.param("smallp_intersect", smallp_intersect, 170.0);
n.param("smallp_ratio", smallp_ratio, 1.2);
n.param("point_filter_num", point_filter_num, 4);

from fast_lio.

@XW-HKU @kxch928925819
你好，英语不好，这里用汉字写了。
Hi，my English is pool， so I ask with chinese。

我实现了Fast-lio支持外置的IMU，我有两个问题想咨询下：
I relize Fast-lio support outside IMU， here I want ask two questions：

第一个问题：我想知道代码特征提取函数 void mid_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) 支持Mid-40/70吗，你们有实际测试过吗？如果可以它的参数是多少（是下面的默认参数吗，如果不是能提供一下吗）？

first question：Does function "void mid_handler () " support Mid-40/70? you test with these lidars? If, it support, what is the paramters (Are the default prameters below, or can you give it for me) ?

n.param("lidar_type", lidar_type, 0);
n.param("blind", blind, 0.5);
n.param("inf_bound", inf_bound, 10);
n.param("N_SCANS", N_SCANS, 1);
n.param("group_size", group_size, 8);
n.param("disA", disA, 0.01);
n.param("disB", disB, 0.1);
n.param("p2l_ratio", p2l_ratio, 400);
n.param("limit_maxmid", limit_maxmid, 9);
n.param("limit_midmin", limit_midmin, 16);
n.param("limit_maxmin", limit_maxmin, 3.24);
n.param("jump_up_limit", jump_up_limit, 175.0);
n.param("jump_down_limit", jump_down_limit, 5.0);
n.param("cos160", cos160, 160.0);
n.param("edgea", edgea, 3);
n.param("edgeb", edgeb, 0.05);
n.param("smallp_intersect", smallp_intersect, 170.0);
n.param("smallp_ratio", smallp_ratio, 1.2);
n.param("point_filter_num", point_filter_num, 4);

第二个问题：如果使用Mid-40/70，后面的laserMapping的优化参数有需要改的吗？
second question： If use Mid-40/70， is need to change parmeter optimization in laserMapping？

from fast_lio.

from fast_lio.

from fast_lio.

@XW-HKU @kxch928925819
你好，英语不好，这里用汉字写了。
Hi，my English is pool， so I ask with chinese。

我实现了Fast-lio支持外置的IMU，我有两个问题想咨询下：
I relize Fast-lio support outside IMU， here I want ask two questions：

第一个问题：我想知道代码特征提取函数 void mid_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) 支持Mid-40/70吗，你们有实际测试过吗？如果可以它的参数是多少（是下面的默认参数吗，如果不是能提供一下吗）？

first question：Does function "void mid_handler () " support Mid-40/70? you test with these lidars? If, it support, what is the paramters (Are the default prameters below, or can you give it for me) ?

n.param("lidar_type", lidar_type, 0);
n.param("blind", blind, 0.5);
n.param("inf_bound", inf_bound, 10);
n.param("N_SCANS", N_SCANS, 1);
n.param("group_size", group_size, 8);
n.param("disA", disA, 0.01);
n.param("disB", disB, 0.1);
n.param("p2l_ratio", p2l_ratio, 400);
n.param("limit_maxmid", limit_maxmid, 9);
n.param("limit_midmin", limit_midmin, 16);
n.param("limit_maxmin", limit_maxmin, 3.24);
n.param("jump_up_limit", jump_up_limit, 175.0);
n.param("jump_down_limit", jump_down_limit, 5.0);
n.param("cos160", cos160, 160.0);
n.param("edgea", edgea, 3);
n.param("edgeb", edgeb, 0.05);
n.param("smallp_intersect", smallp_intersect, 170.0);
n.param("smallp_ratio", smallp_ratio, 1.2);
n.param("point_filter_num", point_filter_num, 4);

第二个问题：如果使用Mid-40/70，后面的laserMapping的优化参数有需要改的吗？
second question： If use Mid-40/70， is need to change parmeter optimization in laserMapping？

不好意思很晚才回答：

1. FAST LIO1.0 不直接支持MID 70，当然如果有外置IMU，可以修改下imu的topic name看看效果，不过feature extraction不一定能很好的支持mid 70. FAST LIO 2.0 能比较好的支持外置IMU以及大部分雷达。
2. IMU是必须的。

from fast_lio.

哈哈！我得找你帮助啦！ 关于livox与imu标定 ，能麻烦你给与一定的指导吗！ 我这一头雾水！程序都不知道选谁的，调试也不太明白！ 我就是一个测绘技术人员，喜欢玩，所以你发的那些调参，我还真的一点忙也帮不上！ 这是我的QQ号，希望更多的得到你的帮助！谢谢啊！
…
------------------ 原始邮件 ------------------ 发件人: "hku-mars/FAST_LIO" @.>; 发送时间: 2021年5月26日(星期三) 中午11:12 @.>; @.@.>; 主题: Re: [hku-mars/FAST_LIO] Does Fast-lio-1.0 support MId-70? (#16) @XW-HKU @kxch928925819 你好，英语不好，这里用汉字写了。 Hi，my English is pool， so I ask with chinese。 我实现了Fast-lio支持外置的IMU，我有两个问题想咨询下： I relize Fast-lio support outside IMU， here I want ask two questions： 第一个问题：我想知道代码特征提取函数 void mid_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) 支持Mid-40/70吗，你们有实际测试过吗？如果可以它的参数是多少（是下面的默认参数吗，如果不是能提供一下吗）？ first question：Does function "void mid_handler () " support Mid-40/70? you test with these lidars? If, it support, what is the paramters (Are the default prameters below, or can you give it for me) ? n.param("lidar_type", lidar_type, 0); n.param("blind", blind, 0.5); n.param("inf_bound", inf_bound, 10); n.param("N_SCANS", N_SCANS, 1); n.param("group_size", group_size, 8); n.param("disA", disA, 0.01); n.param("disB", disB, 0.1); n.param("p2l_ratio", p2l_ratio, 400); n.param("limit_maxmid", limit_maxmid, 9); n.param("limit_midmin", limit_midmin, 16); n.param("limit_maxmin", limit_maxmin, 3.24); n.param("jump_up_limit", jump_up_limit, 175.0); n.param("jump_down_limit", jump_down_limit, 5.0); n.param("cos160", cos160, 160.0); n.param("edgea", edgea, 3); n.param("edgeb", edgeb, 0.05); n.param("smallp_intersect", smallp_intersect, 170.0); n.param("smallp_ratio", smallp_ratio, 1.2); n.param("point_filter_num", point_filter_num, 4); 第二个问题：如果使用Mid-40/70，后面的laserMapping的优化参数有需要改的吗？ second question： If use Mid-40/70， is need to change parmeter optimization in laserMapping？ — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

FAST LIO可以外接IMU（修改laser_mapping.cpp里面的ros 订阅topic name），不过需要保证旋转上没有偏差，也就是rotation的外参是单位阵。平移外参可以直接在common_lib.h里面修改。

from fast_lio.

Now mid-70 should work with fast-lio if having an external, synced IMU.

from fast_lio.