20210125

narutojxl · Jan 25, 2021 · ac27043 · ac27043
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commit ac27043
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Showing 3 changed files with 13 additions and 10 deletions.
diff --git a/estimator/config/jxl_config_handheld.yaml b/estimator/config/jxl_config_handheld.yaml
@@ -14,21 +14,21 @@ segment_theta: 0.53 # Lego-loam: 1.0
 # laser parameters
 idx_ref: 0   #主雷达id
 n_scans: 16    #laser beams
-num_of_laser: 2
+num_of_laser: 1  #default
 
 cloud_topic:
-   - "/left/velodyne_points"
-   - "/right/velodyne_points"
+   #- "/left/velodyne_points"
+   #- "/right/velodyne_points"   
+   - "/velodyne_points"
 
 # window sizes
 window_size: 4
 opt_window_size: 2
 
 
 ############################## For normal use
-# Extrinsic parameter between multiple LiDARs.
-#代码中当需要对外参提纯或者估计外参时，不对点云进行分割 
-estimate_extrinsic: 1   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
+# Extrinsic parameter between multiple LiDARs. 
+estimate_extrinsic: 0   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
                         # 1  Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
                         # 2  Have no prior about extrinsic parameters. We will initialize and optimize around them
 

diff --git a/estimator/src/lidarMapper/lidar_mapper_keyframe.cpp b/estimator/src/lidarMapper/lidar_mapper_keyframe.cpp
@@ -76,7 +76,7 @@ std::vector<PointICovCloud::Ptr> corner_cloud_keyframes_cov;//所有keyframes co
 std::vector<PointICovCloud::Ptr> outlier_cloud_keyframes_cov;//所有keyframes outlier points
 
 // downsampling voxel grid
-pcl::VoxelGridCovarianceMLOAM<PointI> down_size_filter_surf;
+pcl::VoxelGridCovarianceMLOAM<PointI> down_size_filter_surf; //见mloam_pcl package
 pcl::VoxelGridCovarianceMLOAM<PointI> down_size_filter_corner;
 pcl::VoxelGridCovarianceMLOAM<PointI> down_size_filter_outlier;
 pcl::VoxelGridCovarianceMLOAM<PointI> down_size_filter_surrounding_keyframes;

diff --git a/estimator/src/utility/visualization.cpp b/estimator/src/utility/visualization.cpp
@@ -177,7 +177,7 @@ void pubOdometry(Estimator &estimator, const double &time)
             laser_odom.pose.pose.position.y = pose_laser_cur.t_.y();
             laser_odom.pose.pose.position.z = pose_laser_cur.t_.z();
             v_pub_laser_odom[n].publish(laser_odom);
-            publishTF(laser_odom);
+            publishTF(laser_odom); 
 
             geometry_msgs::PoseStamped laser_pose;
             laser_pose.header = laser_odom.header;
@@ -224,7 +224,8 @@ void pubOdometry(Estimator &estimator, const double &time)
     extrinsics.header.frame_id = "/laser_" + std::to_string(IDX_REF);
     extrinsics.status = ESTIMATE_EXTRINSIC;
     for (size_t n = 0; n < NUM_OF_LASER; n++)
-    {
+    {   
+        // if(n == IDX_REF) continue; 
         nav_msgs::Odometry exts;
         exts.header.seq = n;
         exts.header.stamp = ros::Time(time);
@@ -240,7 +241,9 @@ void pubOdometry(Estimator &estimator, const double &time)
         for (size_t i = 0; i < 6; i++)
             for (size_t j = 0; j < 6; j++) 
                 exts.pose.covariance[i * 6 + j] = float(estimator.covbl_[n](i, j));
-        publishTF(exts);
+
+        if(n != IDX_REF) //jxl add: do not publish主雷达到主雷达的tf
+            publishTF(exts);
         extrinsics.odoms.push_back(exts);
     }
     pub_extrinsics.publish(extrinsics); //外参topic "/extrinsics"