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hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
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Parameterizing lidar frequency(scan period) #40

Open yclo3 opened 4 years ago

yclo3 commented 4 years ago

Hi, I am testing different lidar frequency on lio-mapping.

So far I found there are some related parameters such as scan_period and time_factor are respectively cast with default value as 0.1 and 10. Also in some lines of they are fed as fixed value parameters such as PointOdometry constructors(line 147 in estimator_node.cc and line 61 in odometry_node.cc) and TransformToEnd function calls(line 668, 670, 672, and 2416 in Estimator.cc ). But I don't know whether that's all and have no idea about what to further modify to parameterize lidar frequency as an option.

Thank you.

hyye commented 4 years ago

The lidar frequency, except 10Hz, has not been fully implemented yet. All the parts related to 10Hz or 0.1s, and msg_time_delay in the config need to be modified.