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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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16 changes: 12 additions & 4 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;
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26 changes: 26 additions & 0 deletions LeGO-LOAM/src/mapOptmization.cpp
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Expand Up @@ -727,6 +727,32 @@ class mapOptimization{
rate.sleep();
publishGlobalMap();
}

std::cout << "start save final point cloud" << std::endl;
std::cout << "======================================================" << std::endl;

ofstream f;
f.open("/home/roxaneqian/kitti_lego_loam/src/kitti-lego-loam-master/LeGO-LOAM/LeGO-LOAM/getfromcode/traj/myRes.txt");
f << fixed;
//std::cout << "traj roll" << cloudKeyPoses6D->points[0].roll << std::endl;
for(size_t i = 0;i < cloudKeyPoses3D->size();i++)
{
float cy = cos((cloudKeyPoses6D->points[i].yaw)*0.5);
float sy = sin((cloudKeyPoses6D->points[i].yaw)*0.5);
float cr = cos((cloudKeyPoses6D->points[i].roll)*0.5);
float sr = sin((cloudKeyPoses6D->points[i].roll)*0.5);
float cp = cos((cloudKeyPoses6D->points[i].pitch)*0.5);
float sp = sin((cloudKeyPoses6D->points[i].pitch)*0.5);

float w = cy * cp * cr + sy * sp * sr;
float x = cy * cp * sr - sy * sp * cr;
float y = sy * cp * sr + cy * sp * cr;
float z = sy * cp * cr - cy * sp * sr;
//save the traj
f << setprecision(6) << cloudKeyPoses6D->points[i].time << " " << setprecision(9) << cloudKeyPoses6D->points[i].x << " " << cloudKeyPoses6D->points[i].y << " " << cloudKeyPoses6D->points[i].z << " " << x << " " << y << " " << z << " " << w << endl;
}

f.close();
// save final point cloud
pcl::io::savePCDFileASCII(fileDirectory+"finalCloud.pcd", *globalMapKeyFramesDS);

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