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feat:livox-hap LIDAR adapted successfully #1
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Thanks for your contribution, it looks great. Sorry for late answer.
In addition to reviews, could you remove the result txt's and yaml files instead of simu.yaml
After these changes i think we can merge your commits.
Also I changed Hesai parser code with your changes in this commit. I think i did something wrong and Hesai point cloud looks a little bit broken but right now it looks okey. Thanks again.
@@ -17,11 +17,10 @@ use_gui: false | |||
# 当 segment_num = 1时,即用一段数据标定 | |||
segment_num: 1 | |||
selected_segment: | |||
- {start_time: 0, end_time: 7, path_bag: /home/ha/catkin_oa_calib/src/OA-LICalib/data/bag/simu_bag.bag} | |||
- {start_time: 0, end_time: 7, path_bag: /root/calib_ws/src/OA-LICalib/data/bag/simu_bag.bag} |
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Could you change this with
- {start_time: 0, end_time: 7, path_bag: /root/calib_ws/src/OA-LICalib/data/bag/simu_bag.bag} | |
- {start_time: 0, end_time: 7, path_bag: /root/catkin_oa_calib/src/OA-LICalib/data/bag/simu_bag.bag} |
Also could you change the docker run command in README.md with this:
"docker run -it --env="DISPLAY" --volume="$HOME/.Xauthority:/root/.Xauthority:rw" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="$REPO_PATH:/root/catkin_oa_calib/src/OA-LICalib" calib:v1 bash"
Its look the volume path is wrong so if we change this, everything will okay.
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# If you select false, it calculate initial rotations. | ||
# If you know the approximate conversion between the sensors, set true. | ||
# 平面运动时,旋转外参无法初始化 |
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English comments are more inclusive for us. Please use English comments.
@@ -238,7 +238,8 @@ int main(int argc, char** argv) { | |||
std::string PACKAGE_PATH = ros::package::getPath(package_name); | |||
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std::string config_file_path = PACKAGE_PATH + config_path; | |||
YAML::Node config_node = YAML::LoadFile(config_file_path); |
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I did not understand why we need this change.
@@ -79,7 +79,7 @@ class HesaiLiDAR { | |||
point.z = pc_in.at(w,h).z; | |||
// point.intensity = pc_in.at(w,h).intensity; | |||
point.timestamp = timebase + pc_in.at(w,h).timestamp * 1e-9; //may be different according to lidar sensor. | |||
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std::cout << h << " " << w << std::endl; |
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If it is for debug, we can remove I think.
Adaptation of lidar types:
lidar driver
livox_ros_driver2
Livox-SDK2
Test results:
Successful test, successfully output normal external reference results
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@xmfcx