LIO_SAM 学习一(基本数据结构)

基本数据格式

1. 自定义的配置文件(目前不用管意义，在查找时查询)

config/params.yaml

launch 加载

 <rosparam command="load" file="$(find MY_LIO)/config/params.yaml"/>

2. 自定义的could_info.msg

#点云数据信息
Header Header

#索引范围
int32[] startRingIndex
int32[] endRingIndex

#点的行数对应在图片上的索引
#点云范围
int32[] pointColInd
float32[] pointRange

int64 imuAvailable
int64 odomAvailable

#LOAM 使用IMU姿态初始化
float32 imuRollInit
float32 imuPitchInit
float32 imuYawInit

#初始化IMU预计分
float32 initialGuessX
float32 initialGuessY
float32 initialGuessZ
float32 initialGuessRoll
float32 initialGuessPitch
float32 initialGuessYaw

#3d点云信息
sensor_msgs/PointCloud2 cloud_deskewed  #初始点云平面
sensor_msgs/PointCloud2 cloud_corner    #角点特征
sensor_msgs/PointCloud2 cloud_surface   #平面特征

sensor_msgs/PointCloud2 数据类型

std_msgs/Header header #传感器采集时间和坐标id
  uint32 seq
  time stamp
  string frame_id
uint32 height      #以点数指定点云数据集的宽度。 WIDTH有两个含义：
    *  - 它可以为 无组织数据集 指定云中的总点数;
    *  - 它可以指定 有组织的点云数据集 的宽度（一行中的总点数）
uint32 width
 * - 对于 无组织数据集，它设置为1（因此用于检查数据集是否ordered）。
 * - 它可以指定 有组织的点云数据集 的高度（总行数）;
sensor_msgs/PointField[] fields #事故隐患与keuxubg
  uint8 INT8=1
  uint8 UINT8=2
  uint8 INT16=3
  uint8 UINT16=4
  uint8 INT32=5
  uint8 UINT32=6
  uint8 FLOAT32=7
  uint8 FLOAT64=8
  string name
  uint32 offset
  uint8 datatype
  uint32 count
bool is_bigendian #默认为小端模式，低字节在后，高字节在前
uint32 point_step 	#点的长度：单位：字节
uint32 row_step		#每行点的长度：单位：字节
uint8[] data		#实际点云数据：（row_step*height）字节
bool is_dense		#数据是否稠密（包含Nan/Inf 为false，否则为true）

header: 
  seq: 52
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: "odom"
height: 1
width: 100
fields: 
  - 
    name: "x"
    offset: 0
    datatype: 7
    count: 1
  - 
    name: "y"
    offset: 4
    datatype: 7
    count: 1
  - 
    name: "z"
    offset: 8
    datatype: 7
    count: 1
is_bigendian: False
point_step: 16
row_step: 1600
data: [112, 86, 180, 62, 64, 135, 27, 190, 192, 229, 217, 189, 0, 0, 128, 63, 208, 120, 203, 190, 240, 58, 242, 190, 240, 207, 149, 62, 0, 0, 128, 63, 176, 93, 59, 191, 96, 199, 42, 63, 144, 242, 225, 62, 0, 0, 128, 63, 152, 25, 60, 191, 208, 197, 90, 63, 128, 42, 20, 189, 0, 0, 128, 63, 224, 224, 235, 190, 80, 16, 142, 190, 232, 176, 106, 191, 0, 0, 128, 63, 192, 40, 60, 62, 224, 3, 120, 63, 16, 22, 3, 63, 0, 0, 128, 63, 96, 189, 127, 191, 128, 128, 237, 190, 216, 24, 49, 63, 0, 0, 128, 63, 64, 79, 55, 63, 56, 111, 6, 63, 152, 227, 5, 191, 0, 0, 128, 63, 96, 247, 224, 62, 208, 42, 17, 63, 112, 201, 103, 63, 0, 0, 128, 63, 232, 108, 20, 191, 152, 17, 102, 63, 8, 67, 1, 191, 0, 0, 128, 63, 184, 217, 65, 191, 48, 195, 63, 191, 208, 36, 40, 191, 0, 0, 128, 63, 112, 22, 93, 191, 104, 128, 90, 63, 184, 189, 94, 63, 0, 0, 128, 63, 120, 46, 18, 191, 0, 22, 249, 61, 208, 245, 236, 190, 0, 0, 128, 63, 192, 212, 4, 190, 216, 246, 28, 191, 208, 149, 200, 62, 0, 0, 128, 63, 96, 223, 41, 190, 184, 24, 109, 63, 0, 22, 234, 61, 0, 0, 128, 63, 72, 215, 106, 63, 16, 221, 99, 191, 96, 185, 106, 191, 0, 0, 128, 63, 168, 18, 18, 191, 128, 44, 227, 61, 104, 134, 30, 63, 0, 0, 128, 63, 128, 49, 248, 61, 216, 180, 83, 63, 96, 10, 91, 191, 0, 0, 128, 63, 192, 186, 205, 190, 120, 207, 59, 191, 32, 191, 147, 190, 0, 0, 128, 63, 16, 236, 0, 63, 160, 195, 47, 63, 8, 50, 28, 63, 0, 0, 128, 63, 0, 240, 173, 186, 192, 176, 144, 189, 128, 68, 14, 190, 0, 0, 128, 63, 200, 123, 40, 191, 128, 44, 111, 191, 72, 239, 54, 63, 0, 0, 128, 63, 192, 7, 89, 62, 16, 74, 253, 62, 8, 18, 86, 63, 0, 0, 128, 63, 240, 113, 128, 190, 192, 223, 186, 62, 224, 108, 100, 62, 0, 0, 128, 63, 192, 71, 16, 62, 32, 224, 75, 62, 16, 204, 89, 191, 0, 0, 128, 63, 112, 169, 130, 62, 176, 48, 98, 191, 192, 173, 132, 62, 0, 0, 128, 63, 168, 100, 41, 191, 176, 188, 11, 63, 240, 120, 189, 62, 0, 0, 128, 63, 0, 228, 45, 189, 224, 194, 42, 63, 176, 142, 77, 191, 0, 0, 128, 63, 160, 232, 101, 191, 0, 203, 135, 62, 176, 67, 237, 62, 0, 0, 128, 63, 216, 55, 80, 63, 144, 209, 68, 63, 136, 154, 89, 191, 0, 0, 128, 63, 32, 150, 19, 191, 160, 122, 68, 63, 160, 176, 107, 191, 0, 0, 128, 63, 64, 39, 55, 191, 192, 246, 223, 61, 128, 139, 20, 62, 0, 0, 128, 63, 0, 192, 95, 186, 160, 129, 164, 62, 240, 199, 35, 63, 0, 0, 128, 63, 24, 218, 85, 63, 192, 62, 144, 61, 48, 200, 126, 191, 0, 0, 128, 63, 176, 10, 113, 191, 64, 103, 88, 62, 40, 208, 75, 191, 0, 0, 128, 63, 32, 165, 84, 62, 16, 221, 238, 62, 96, 254, 163, 62, 0, 0, 128, 63, 80, 0, 239, 62, 128, 216, 71, 190, 224, 187, 93, 63, 0, 0, 128, 63, 160, 60, 86, 63, 96, 81, 115, 190, 128, 2, 239, 190, 0, 0, 128, 63, 0, 223, 10, 61, 8, 67, 93, 63, 224, 110, 78, 190, 0, 0, 128, 63, 144, 159, 254, 62, 64, 10, 165, 190, 216, 53, 17, 63, 0, 0, 128, 63, 128, 149, 180, 190, 56, 27, 102, 191, 136, 79, 42, 191, 0, 0, 128, 63, 168, 4, 58, 63, 16, 123, 197, 62, 168, 80, 14, 191, 0, 0, 128, 63, 136, 39, 95, 63, 48, 11, 197, 62, 96, 63, 112, 190, 0, 0, 128, 63, 16, 33, 250, 190, 72, 160, 71, 191, 0, 32, 40, 190, 0, 0, 128, 63, 72, 39, 4, 63, 16, 170, 142, 62, 0, 29, 65, 61, 0, 0, 128, 63, 176, 81, 143, 190, 160, 252, 248, 62, 88, 128, 3, 63, 0, 0, 128, 63, 128, 101, 37, 61, 128, 254, 115, 63, 128, 20, 163, 62, 0, 0, 128, 63, 56, 18, 104, 63, 128, 19, 87, 190, 64, 175, 165, 61, 0, 0, 128, 63, 240, 33, 225, 62, 160, 91, 52, 190, 240, 248, 113, 63, 0, 0, 128, 63, 0, 213, 115, 62, 192, 113, 164, 62, 216, 115, 31, 63, 0, 0, 128, 63, 32, 43, 78, 63, 128, 29, 1, 189, 192, 78, 141, 190, 0, 0, 128, 63, 96, 110, 15, 62, 208, 242, 49, 63, 64, 177, 224, 61, 0, 0, 128, 63, 32, 234, 212, 190, 80, 203, 221, 190, 144, 55, 253, 62, 0, 0, 128, 63, 232, 132, 38, 191, 40, 246, 107, 191, 0, 9, 146, 190, 0, 0, 128, 63, 224, 140, 80, 191, 192, 157, 207, 190, 0, 188, 215, 187, 0, 0, 128, 63, 16, 123, 68, 191, 184, 119, 47, 191, 192, 157, 245, 62, 0, 0, 128, 63, 96, 245, 129, 190, 96, 33, 37, 191, 160, 50, 17, 191, 0, 0, 128, 63, 128, 124, 132, 61, 176, 225, 133, 62, 128, 247, 70, 191, 0, 0, 128, 63, 224, 21, 21, 62, 216, 129, 51, 63, 104, 14, 116, 191, 0, 0, 128, 63, 152, 193, 104, 191, 24, 119, 112, 63, 128, 213, 33, 191, 0, 0, 128, 63, 128, 155, 146, 190, 144, 187, 130, 190, 88, 231, 41, 191, 0, 0, 128, 63, 32, 245, 15, 191, 64, 17, 236, 189, 128, 183, 0, 61, 0, 0, 128, 63, 224, 189, 231, 190, 56, 247, 7, 191, 96, 180, 205, 190, 0, 0, 128, 63, 128, 205, 43, 61, 232, 131, 81, 63, 168, 47, 45, 63, 0, 0, 128, 63, 160, 30, 121, 190, 0, 8, 119, 59, 160, 193, 138, 62, 0, 0, 128, 63, 128, 220, 127, 190, 8, 132, 67, 191, 208, 45, 212, 190, 0, 0, 128, 63, 0, 95, 107, 62, 72, 129, 123, 63, 192, 199, 112, 63, 0, 0, 128, 63, 192, 181, 172, 190, 40, 239, 115, 191, 104, 71, 76, 191, 0, 0, 128, 63, 168, 173, 98, 63, 176, 169, 78, 191, 128, 44, 198, 189, 0, 0, 128, 63, 0, 6, 139, 189, 128, 41, 145, 62, 144, 177, 87, 63, 0, 0, 128, 63, 64, 54, 51, 191, 0, 0, 57, 187, 200, 83, 22, 63, 0, 0, 128, 63, 104, 226, 34, 63, 24, 174, 16, 191, 64, 163, 241, 62, 0, 0, 128, 63, 224, 237, 42, 63, 248, 114, 123, 63, 0, 89, 114, 189, 0, 0, 128, 63, 112, 39, 136, 62, 48, 208, 121, 191, 88, 94, 66, 63, 0, 0, 128, 63, 96, 67, 113, 63, 40, 232, 71, 63, 96, 85, 67, 63, 0, 0, 128, 63, 208, 91, 73, 191, 8, 241, 7, 63, 0, 160, 58, 186, 0, 0, 128, 63, 80, 141, 76, 63, 208, 200, 66, 63, 168, 82, 123, 63, 0, 0, 128, 63, 224, 85, 133, 190, 224, 219, 216, 62, 0, 112, 236, 60, 0, 0, 128, 63, 168, 13, 113, 63, 104, 228, 48, 191, 40, 70, 71, 191, 0, 0, 128, 63, 32, 72, 88, 63, 32, 69, 66, 191, 208, 98, 253, 190, 0, 0, 128, 63, 160, 12, 160, 190, 160, 132, 10, 63, 208, 212, 254, 190, 0, 0, 128, 63, 240, 154, 140, 62, 240, 152, 82, 191, 128, 231, 111, 63, 0, 0, 128, 63, 32, 31, 63, 63, 64, 172, 30, 190, 64, 44, 165, 189, 0, 0, 128, 63, 144, 249, 47, 63, 64, 69, 227, 61, 72, 138, 113, 63, 0, 0, 128, 63, 24, 168, 13, 191, 240, 83, 114, 191, 32, 27, 141, 190, 0, 0, 128, 63, 32, 181, 86, 62, 128, 160, 136, 62, 0, 199, 130, 62, 0, 0, 128, 63, 128, 250, 85, 62, 112, 34, 111, 191, 176, 211, 123, 191, 0, 0, 128, 63, 184, 46, 79, 191, 160, 50, 78, 63, 192, 101, 15, 191, 0, 0, 128, 63, 48, 203, 71, 191, 96, 127, 129, 190, 224, 181, 63, 63, 0, 0, 128, 63, 80, 221, 225, 62, 112, 136, 23, 63, 0, 208, 35, 188, 0, 0, 128, 63, 0, 44, 92, 189, 64, 4, 143, 62, 96, 245, 7, 63, 0, 0, 128, 63, 40, 45, 13, 191, 152, 207, 13, 63, 32, 71, 149, 190, 0, 0, 128, 63, 192, 116, 197, 62, 72, 17, 51, 191, 48, 157, 228, 190, 0, 0, 128, 63, 176, 41, 156, 62, 0, 238, 69, 188, 224, 203, 171, 190, 0, 0, 128, 63, 216, 96, 64, 191, 208, 191, 16, 191, 32, 198, 55, 63, 0, 0, 128, 63, 152, 17, 121, 63, 16, 37, 182, 190, 104, 22, 124, 63, 0, 0, 128, 63, 232, 138, 69, 191, 128, 79, 22, 190, 128, 63, 79, 61, 0, 0, 128, 63, 160, 133, 122, 62, 152, 194, 116, 191, 160, 38, 91, 63, 0, 0, 128, 63, 160, 136, 161, 190, 112, 228, 134, 62, 240, 102, 26, 63, 0, 0, 128, 63, 32, 227, 221, 62, 224, 96, 52, 63, 160, 16, 78, 191, 0, 0, 128, 63]
is_dense: True

3. 基本参数设置和topic订阅
   在/include/utility.h