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Merge branch 'point-lio-with-grid-map' of https://github.com/hku-mars/Point-LIO into point-lio-with-grid-map

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This commit is contained in:
Joanna-HE
2024-05-06 03:43:08 -04:00
parent c13454d862 08e893cda5
commit 75ea616680
2 changed files with 8 additions and 1 deletions
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7
CMakeLists.txt
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@@ -74,7 +74,10 @@ link_directories(
${PCL_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS}
) )
<<<<<<< HEAD
=======
>>>>>>> 08e893cda5c52c675c04908d85821af18a89adb7
generate_messages( generate_messages(
DEPENDENCIES DEPENDENCIES
geometry_msgs geometry_msgs
@@ -85,8 +88,12 @@ catkin_package(
DEPENDS EIGEN3 PCL DEPENDS EIGEN3 PCL
INCLUDE_DIRS INCLUDE_DIRS
) )
<<<<<<< HEAD
add_executable(pointlio_mapping src/laserMapping.cpp add_executable(pointlio_mapping src/laserMapping.cpp
=======
add_executable(pointlio_mapping src/laserMapping.cpp
>>>>>>> 08e893cda5c52c675c04908d85821af18a89adb7
src/li_initialization.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp src/li_initialization.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp
src/IMU_Processing.cpp) src/IMU_Processing.cpp)
target_link_libraries(pointlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES}) target_link_libraries(pointlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})

2
config/avia.yaml
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@@ -11,7 +11,7 @@ preprocess:
lidar_type: 1 # 4 lidar_type: 1 # 4
scan_line: 6 # 32 scan_line: 6 # 32
timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 0.50 blind: 0.5
mapping: mapping:
imu_en: true imu_en: true