From 4dcf0e0a972785004ac7d722f0c8c828daaad8fe Mon Sep 17 00:00:00 2001 From: mt-lifan Date: Wed, 11 Feb 2026 15:47:50 +0800 Subject: [PATCH] feat 1.add cloud_raw confidence filter threshold to config yaml} 2.update sdk for ntp functions 3.add set camera FPS function in yaml(10FPS,14.5FPS) 4.release ros driver 0.9.0 5.Add time alignment mode for odin1 device synchronization with host 6.Add new time alignment option (use_host_ros_time=2) to align odin1 sensor timestamps to host time axis using PTP sync data 7.Implement PTP smoothing with 30-sample moving average window for delay and offset calculations 8.Refactor timestamp handling with make_aligned_stamp() helper function to centralize time conversion logic across all data types (IMU, point clouds, images, odometry) 9.Add LIDAR_DT_NTP data type for receiving 10.add imu data record 11.add cloud reprojection demo --- CMakeLists.txt | 40 +++ README.md | 10 +- config/control_command.yaml | 19 +- config/odin_ros.rviz | 38 ++- config/odin_ros2.rviz | 35 +- include/cloud_reprojection_ros_node.hpp | 104 ++++++ include/cloud_reprojector.hpp | 79 +++++ include/data_logger.h | 6 + include/host_sdk_sample.h | 246 +++++++------- include/lidar_api.h | 13 +- include/lidar_api_type.h | 17 +- launch_ROS1/odin1_ros1.launch | 5 + launch_ROS2/odin1_ros2.launch.py | 16 + lib/liblydHostApi_amd.a | Bin 415618 -> 422616 bytes lib/liblydHostApi_arm.a | Bin 448146 -> 455912 bytes package.xml | 35 +- src/cloud_reprojection_ros.cpp | 435 ++++++++++++++++++++++++ src/cloud_reprojector.cpp | 113 ++++++ src/host_sdk_sample.cpp | 122 ++++++- 19 files changed, 1143 insertions(+), 190 deletions(-) create mode 100644 include/cloud_reprojection_ros_node.hpp create mode 100644 include/cloud_reprojector.hpp create mode 100644 src/cloud_reprojection_ros.cpp create mode 100644 src/cloud_reprojector.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 23d83b5..1135cf7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -195,6 +195,20 @@ if(ROS_VERSION STREQUAL "ROS1") ${PCL_LIBRARIES} ) + add_library(cloud_reprojector src/cloud_reprojector.cpp) + target_link_libraries(cloud_reprojector + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + + add_executable(cloud_reprojection_node src/cloud_reprojection_ros.cpp) + target_link_libraries(cloud_reprojection_node + cloud_reprojector + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + # Installation rules install(TARGETS host_sdk_sample RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} @@ -301,11 +315,37 @@ elseif(ROS_VERSION STREQUAL "ROS2") message_filters ) + add_library(cloud_reprojector_ros2 src/cloud_reprojector.cpp) + target_compile_definitions(cloud_reprojector_ros2 PRIVATE ROS2) + target_link_libraries(cloud_reprojector_ros2 + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + + add_executable(cloud_reprojection_ros2_node src/cloud_reprojection_ros.cpp) + target_compile_definitions(cloud_reprojection_ros2_node PRIVATE ROS2) + target_link_libraries(cloud_reprojection_ros2_node + cloud_reprojector_ros2 + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + yaml-cpp + ) + ament_target_dependencies(cloud_reprojection_ros2_node + rclcpp + sensor_msgs + nav_msgs + cv_bridge + image_transport + pcl_conversions + message_filters + ) + # Installation rules - ensure all install targets are defined before ament_package() # Install executable install(TARGETS host_sdk_sample pcd2depth_ros2_node + cloud_reprojection_ros2_node EXPORT export_${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib diff --git a/README.md b/README.md index 48bdf5e..0a0d5cf 100644 --- a/README.md +++ b/README.md @@ -18,9 +18,9 @@ This driver package provides core functionality for point cloud SLAM application ## 1. Version -Current version: v0.8.0 +Current version: v0.9.0 -Required device firmware version: v0.9.0 +Required device firmware version: v0.10.0 ## 2. Preparation @@ -198,6 +198,8 @@ Odin_ROS_Driver/ // ROS1/ROS2 driver package pcd2depth_ros.cpp //Source code for pcd2depth_ros pcd2depth_ros2.cpp //Source code for pcd2depth_ros2 pointcloud_depth_converter.cpp //Source code for pointcloud_depth_converter + cloud_reprojection_ros.cpp //Source code for cloud reprojection node (ROS1/ROS2) + cloud_reprojector.cpp //Core logic for cloud reprojection lib/ liblydHostApi_amd.a // Static library for AMD platform liblydHostApi_arm.a // Static library for ARM platform @@ -211,6 +213,8 @@ Odin_ROS_Driver/ // ROS1/ROS2 driver package depth_image_ros_node.hpp // depth_image_ros_node depth_image_ros2_node.hpp // depth_image_ros2_node pointcloud_depth_converter.hpp // pointcloud_depth_convert + cloud_reprojection_ros_node.hpp // cloud_reprojection_ros_node (ROS1/ROS2) + cloud_reprojector.hpp // Core class for cloud reprojection config/ control_command.yaml // Control parameter file for driver calib.yaml // Machine calibration yaml，differ for each individual device. Retrieved from the device everytime it connects to ROS driver @@ -255,6 +259,7 @@ Internal parameters of the Odin ROS driver are defined in config/control_command | tf | sendodom | tf tree Topic | | odin1/depth_img_competetion | senddepth | Dense depth image Topic. Demo, high computing power required. One-to-one with odin1/image_undistort. To utilize the data please directly subscribe to this topic instead of echoing it. Original value is already depth data, no need for further convert. | | odin1/depth_img_competetion_cloud | senddepth | Dense Depth_Cloud Topic. Demo, high computing power required | +| odin1/reprojected_image | sendreprojection | Reprojected cloud to image Topic. Projects cloud_slam to camera image using odometry. Processed on host device. | ### 4.4 Data format @@ -310,6 +315,7 @@ float32 rgb // RGB value |control_command.yaml | Detailed Description | |-----------------------|----------------------| +| use_host_ros_time | Time synchronization mode: 0 - use odin internal system time as data timestamp (typical and recommended); 1 - use host ROS time upon receive (not recommended for most users); 2 - align odin1 time to host time via NTP-like synchronization, timestamp is the sensor data reception time on host time axis. | | strict_usb3.0_check | Strict USB3.0 check, if off, allow connection even if usb connection is below usb 3.0 | | recorddata | Record data in specific format that can be imported into MindCloud(TM) for post-processing. Please be aware that this will consume a lot of storage space. Testing shows 9.5G for 10mins of data. | | devstatuslog | Device status logging, currently save device status (soc temperature, cpu usage, ram usage, dtof sensor temp .etc) and data tx & rx rate to devstatus.csv under log folder. A new file will be created every time the driver is started. | diff --git a/config/control_command.yaml b/config/control_command.yaml index 63b1325..7bdd2cc 100644 --- a/config/control_command.yaml +++ b/config/control_command.yaml @@ -3,9 +3,10 @@ register_keys: # ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer strict_usb3.0_check: 0 # 0: off: 1: on; - # 0: use odin internal system time as data time stamp as before, typical and recommanded; - # 1: use host ros time (upon recieve) as data time stamp, only use if you specifically require this setup, not recommanded for most user - use_host_ros_time: 0 + # 0: use odin internal system time as data time stamp, typical and recommended; + # 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users + # 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis + use_host_ros_time: 2 streamctrl: 1 # 0: off; 1: on @@ -33,6 +34,12 @@ register_keys: # raw dtof data senddtof: 1 # 0: off; 1: on + cloud_raw_confidence_threshold: 35 # please refer to readme for more details + + # dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps) + # Higher frame rate provides smoother point cloud data but may increase data bandwidth + # Note: value is multiplied by 10 (e.g., 145 means 14.5fps) + dtof_fps: 100 # 100: 10fps; 145: 14.5fps # slam cloud data sendcloudslam: 1 # 0: off; 1: on @@ -46,10 +53,14 @@ register_keys: # Processed on host device senddepth: 0 # 0: off; 1: on + # cloud reprojection demo, projects cloud_slam to camera image using odometry + # Processed on host device + sendreprojection: 1 # 0: off; 1: on + # record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software. # save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/ # ATTENTION: please copy the full folder for post-processing. - recorddata: 0 # 0: off; 1: on + recorddata: 1 # 0: off; 1: on # Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv devstatuslog: 1 # 0: off; 1: on. diff --git a/config/odin_ros.rviz b/config/odin_ros.rviz index baca4e4..20634c7 100644 --- a/config/odin_ros.rviz +++ b/config/odin_ros.rviz @@ -9,7 +9,7 @@ Panels: - /slam1 - /TF1/Frames1 Splitter Ratio: 0.4993045926094055 - Tree Height: 837 + Tree Height: 495 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -77,6 +77,18 @@ Visualization Manager: Transport Hint: raw Unreliable: false Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /odin1/reprojected_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: cloudslam_reprojected + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -334,8 +346,6 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - map: - Value: true odin1_base_link: Value: true odom: @@ -348,8 +358,6 @@ Visualization Manager: Show Names: true Tree: odom: - map: - {} odin1_base_link: {} Update Interval: 0 @@ -382,7 +390,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 15.013533592224121 + Distance: 16.25591278076172 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -398,21 +406,21 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7853981852531433 + Pitch: 1.010398030281067 Target Frame: odom - Yaw: 0.7853981852531433 + Yaw: 0.8753980994224548 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1672 + Height: 1016 Hide Left Dock: false Hide Right Dock: false Image: collapsed: false Image_undistort: collapsed: false - QMainWindow State: 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Selection: collapsed: false Time: @@ -421,8 +429,10 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 2736 - X: 144 - Y: 54 + Width: 1848 + X: 72 + Y: 27 + cloudslam_reprojected: + collapsed: false dense_depth_image: - collapsed: false \ No newline at end of file + collapsed: false diff --git a/config/odin_ros2.rviz b/config/odin_ros2.rviz index 124933e..48d42c3 100644 --- a/config/odin_ros2.rviz +++ b/config/odin_ros2.rviz @@ -7,11 +7,12 @@ Panels: - /Global Options1 - /Status1 - /Image1/Topic1 + - /cloudslam_reprojected1 - /Odometry1 - /slam1 - /dense_depth_demo1 Splitter Ratio: 0.5 - Tree Height: 667 + Tree Height: 593 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -74,6 +75,20 @@ Visualization Manager: Reliability Policy: Reliable Value: /odin1/image/undistorted Value: false + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: cloudslam_reprojected + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/reprojected_image + Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -377,8 +392,6 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - map: - Value: true odin1_base_link: Value: true odom: @@ -390,8 +403,6 @@ Visualization Manager: Show Names: false Tree: odom: - map: - {} odin1_base_link: {} Update Interval: 0 @@ -449,18 +460,18 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: 0.2568470537662506 + Y: 2.1451337337493896 + Z: 0.3774382472038269 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.3203984200954437 + Pitch: 0.3953983187675476 Target Frame: odom Value: Orbit (rviz) - Yaw: 3.130404233932495 + Yaw: 3.230407953262329 Saved: ~ Window Geometry: Displays: @@ -472,7 +483,7 @@ Window Geometry: collapsed: false Image_undistort: collapsed: false - QMainWindow State: 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Selection: collapsed: false Tool Properties: @@ -482,5 +493,7 @@ Window Geometry: Width: 1920 X: 540 Y: 124 + cloudslam_reprojected: + collapsed: false dense_depth_image: collapsed: false diff --git a/include/cloud_reprojection_ros_node.hpp b/include/cloud_reprojection_ros_node.hpp new file mode 100644 index 0000000..4408255 --- /dev/null +++ b/include/cloud_reprojection_ros_node.hpp @@ -0,0 +1,104 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once + +#ifdef ROS2 + #include + #include + #include + #include + #include + #include + #include + #include + #include +#else + #include + #include + #include + #include + #include + #include + #include + #include +#endif + +#include +#include +#include + +#include "cloud_reprojector.hpp" + +#include +#include + +#ifdef ROS2 +class CloudReprojectionRosNode : public rclcpp::Node +{ +public: + CloudReprojectionRosNode(const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); + +private: + using PointCloud2 = sensor_msgs::msg::PointCloud2; + using Odometry = nav_msgs::msg::Odometry; + using Image = sensor_msgs::msg::Image; + + std::string cloud_slam_topic_; + std::string odometry_topic_; + std::string reprojected_image_topic_; + + message_filters::Subscriber cloud_sub_; + message_filters::Subscriber odom_sub_; + + typedef message_filters::sync_policies::ExactTime MySyncPolicy; + typedef message_filters::Synchronizer Sync; + std::shared_ptr sync_; + + image_transport::Publisher reprojected_image_pub_; + + std::unique_ptr reprojector_; + + void loadParameters(); + void syncCallback(const PointCloud2::ConstSharedPtr& cloud_msg, + const Odometry::ConstSharedPtr& odom_msg); +}; +#else +class CloudReprojectionRosNode +{ +public: + CloudReprojectionRosNode(ros::NodeHandle& nh, ros::NodeHandle& pnh); + +private: + ros::NodeHandle nh_, pnh_; + + std::string cloud_slam_topic_; + std::string odometry_topic_; + std::string reprojected_image_topic_; + + message_filters::Subscriber cloud_sub_; + message_filters::Subscriber odom_sub_; + + typedef message_filters::sync_policies::ExactTime MySyncPolicy; + typedef message_filters::Synchronizer Sync; + std::shared_ptr sync_; + + ros::Publisher reprojected_image_pub_; + + std::unique_ptr reprojector_; + + void loadParameters(); + void syncCallback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg, + const nav_msgs::OdometryConstPtr& odom_msg); +}; +#endif diff --git a/include/cloud_reprojector.hpp b/include/cloud_reprojector.hpp new file mode 100644 index 0000000..e7ff884 --- /dev/null +++ b/include/cloud_reprojector.hpp @@ -0,0 +1,79 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "polynomial_camera.hpp" + +#include + +class CloudReprojector +{ +public: + struct CameraParams + { + int image_width = 1600; + int image_height = 1296; + double A11 = 0.0, A12 = 0.0, A22 = 0.0; + double u0 = 0.0, v0 = 0.0; + double k2 = 0.0, k3 = 0.0, k4 = 0.0, k5 = 0.0, k6 = 0.0, k7 = 0.0; + }; + + struct ExtrinsicParams + { + Eigen::Matrix4d Tcl = Eigen::Matrix4d::Identity(); // camera to lidar + Eigen::Matrix4d Til = Eigen::Matrix4d::Identity(); // lidar to imu (fixed) + Eigen::Matrix4d Tic = Eigen::Matrix4d::Identity(); // camera to imu (calculated) + }; + + struct OdomPose + { + Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity(); + Eigen::Vector3d position = Eigen::Vector3d::Zero(); + }; + + CloudReprojector(); + ~CloudReprojector() = default; + + bool initialize(const CameraParams& cam_params, const ExtrinsicParams& ext_params); + + cv::Mat reprojectCloud(const pcl::PointCloud& cloud_odom, + const OdomPose& odom_pose); + + void setPointRadius(int radius) { point_radius_ = radius; } + int getPointRadius() const { return point_radius_; } + + const CameraParams& getCameraParams() const { return camera_params_; } + const ExtrinsicParams& getExtrinsicParams() const { return extrinsic_params_; } + + static Eigen::Matrix4d calculateTic(const Eigen::Matrix4d& Tcl, const Eigen::Matrix4d& Til); + +private: + Eigen::Matrix4d odomPoseToMatrix(const OdomPose& odom) const; + + cv::Mat projectCloudToImage(const pcl::PointCloud& cloud_in_cam) const; + + CameraParams camera_params_; + ExtrinsicParams extrinsic_params_; + std::unique_ptr camera_model_; + + int point_radius_ = 4; + bool initialized_ = false; +}; diff --git a/include/data_logger.h b/include/data_logger.h index 1366440..7311790 100644 --- a/include/data_logger.h +++ b/include/data_logger.h @@ -79,6 +79,7 @@ public: //cloud_writer_ = std::make_unique(root_dir_ / "OdinPointCloud.olx", opts.batch_size); image_writer_ = std::make_unique(root_dir_ / "OdinImage.bin", opts.batch_size); roatation_writer_ = std::make_unique(root_dir_ / "OdinRotate.bin", opts.batch_size); + imu_writer_ = std::make_unique(root_dir_ / "OdinIMU.bin", opts.batch_size); } ~BinaryDataLogger() { @@ -87,6 +88,7 @@ public: if (cloud_writer_) cloud_writer_->shutdown(); if (image_writer_) image_writer_->shutdown(); if (roatation_writer_) roatation_writer_->shutdown(); + if (imu_writer_) imu_writer_->shutdown(); } const std::filesystem::path& root_dir() const { return root_dir_; } @@ -104,6 +106,9 @@ public: void enqueueRotateFrame(std::vector&& blob) { if (roatation_writer_) roatation_writer_->enqueue(std::move(blob)); } + void enqueueIMUFrame(std::vector&& blob) { + if (imu_writer_) imu_writer_->enqueue(std::move(blob)); + } private: struct Writer { @@ -194,4 +199,5 @@ private: std::unique_ptr cloud_writer_; std::unique_ptr image_writer_; std::unique_ptr roatation_writer_; + std::unique_ptr imu_writer_; }; diff --git a/include/host_sdk_sample.h b/include/host_sdk_sample.h index c6c92bb..5909823 100644 --- a/include/host_sdk_sample.h +++ b/include/host_sdk_sample.h @@ -70,6 +70,9 @@ enum class OdometryType { extern int g_log_level; extern int g_sendcloudrender; +extern int g_use_host_ros_time; +double get_ptp_smoothed_delay(); +double get_ptp_smoothed_offset(); #ifdef ROS2 #include "rclcpp/rclcpp.hpp" @@ -177,15 +180,40 @@ inline uint64_t ros_time_to_ns(const ros::Time &t) { #endif } +inline ros::Time make_aligned_stamp(uint64_t sensor_timestamp_ns +#ifdef ROS2 + , const rclcpp::Node::SharedPtr& node +#endif + ) { + if (g_use_host_ros_time == 1) { + #ifdef ROS2 + return node->now(); + #else + return ros::Time::now(); + #endif + } + + uint64_t ts_ns = sensor_timestamp_ns; + if (g_use_host_ros_time == 2) { + const double offset_s = get_ptp_smoothed_offset(); + const int64_t offset_ns = static_cast(offset_s * 1e9); + const int64_t base_ns = static_cast(sensor_timestamp_ns); + const int64_t aligned_ns = base_ns - offset_ns; + ts_ns = (aligned_ns < 0) ? 0ULL : static_cast(aligned_ns); + } + + return ns_to_ros_time(ts_ns); +} + class RosNodeControlInterface { public: virtual ~RosNodeControlInterface() = default; virtual void setDtofSubframeODR(int odr) = 0; virtual int getDtofSubframeODR() const = 0; - virtual void setUseHostRosTime(bool use_host_ros_time) = 0; - virtual bool useHostRosTime() const = 0; virtual void setSendOdomBaseLinkTF(bool send_odom_baselink_tf) = 0; virtual bool sendOdomBaseLinkTF() const = 0; + virtual void setCloudRawConfidenceThreshold(int threshold) = 0; + virtual int cloudRawConfidenceThreshold() const = 0; }; RosNodeControlInterface* getRosNodeControl(); @@ -241,15 +269,11 @@ public: ros::Imu imu_msg; #endif - if (getRosNodeControl()->useHostRosTime()) { - #ifdef ROS2 - imu_msg.header.stamp = node_->now(); - #else - imu_msg.header.stamp = ros::Time::now(); - #endif - } else { - imu_msg.header.stamp = ns_to_ros_time(stream->stamp); - } + #ifdef ROS2 + imu_msg.header.stamp = make_aligned_stamp(stream->stamp, node_); + #else + imu_msg.header.stamp = make_aligned_stamp(stream->stamp); + #endif imu_msg.header.frame_id = "imu_link"; imu_msg.linear_acceleration.y = -1 * stream->accel_x; @@ -270,6 +294,31 @@ public: #else imu_pub_.publish(imu_msg); #endif + + if(data_logger_) { + const double ts_sec = static_cast(stream->stamp) / 1e9; + float ax = imu_msg.linear_acceleration.x; + float ay = imu_msg.linear_acceleration.y; + float az = imu_msg.linear_acceleration.z; + float wx = imu_msg.angular_velocity.x; + float wy = imu_msg.angular_velocity.y; + float wz = imu_msg.angular_velocity.z; + + std::vector blob; + blob.reserve(sizeof(double) + sizeof(float) * 6); + auto append_pod = [&](const auto& v) { + const uint8_t* p = reinterpret_cast(&v); + blob.insert(blob.end(), p, p + sizeof(v)); + }; + append_pod(ts_sec); + append_pod(ax); + append_pod(ay); + append_pod(az); + append_pod(wx); + append_pod(wy); + append_pod(wz); + data_logger_->enqueueIMUFrame(std::move(blob)); + } } #ifdef ROS2 using ImageMsg = sensor_msgs::msg::Image; @@ -550,15 +599,11 @@ void publishIntensityCloud(capture_Image_List_t* stream, int idx) // Set message header msg->header.frame_id = "odin1_base_link"; - if (getRosNodeControl()->useHostRosTime()) { - #ifdef ROS2 - msg->header.stamp = node_->now(); - #else - msg->header.stamp = ros::Time::now(); - #endif - } else { - msg->header.stamp = ns_to_ros_time(cloud.timestamp); - } + #ifdef ROS2 + msg->header.stamp = make_aligned_stamp(cloud.timestamp, node_); + #else + msg->header.stamp = make_aligned_stamp(cloud.timestamp); + #endif msg->height = cloud.height; msg->width = cloud.width; @@ -596,9 +641,9 @@ void publishIntensityCloud(capture_Image_List_t* stream, int idx) uint8_t* intensity_data = static_cast(stream->imageList[2].pAddr); uint16_t* confidence_data = static_cast(stream->imageList[3].pAddr); - + int confidence_threshold = getRosNodeControl()->cloudRawConfidenceThreshold(); for (int i = 0; i < total_points; ++i) { - if (confidence_data[i] < 35) { + if (confidence_data[i] < confidence_threshold) { *iter_x = 0.0f; ++iter_x; *iter_y = 0.0f; ++iter_y; *iter_z = 0.0f; ++iter_z; @@ -647,11 +692,10 @@ void publishIntensityCloud(capture_Image_List_t* stream, int idx) } } - { + // Only cache point cloud if cloud_render is enabled + if (g_sendcloudrender) { std::lock_guard lock(pcd_queue_mutex_); - // Get actual point count - const int real_point_count = cloud.width * cloud.height; // Create deep copy of point cloud #ifdef ROS2 auto msg_copy = std::make_shared(*msg); @@ -679,15 +723,11 @@ void publishIntensityCloud(capture_Image_List_t* stream, int idx) void publishGrayUInt8(capture_Image_List_t *stream, int idx) { ImageMsg msg; - if (getRosNodeControl()->useHostRosTime()) { - #ifdef ROS2 - msg.header.stamp = node_->now(); - #else - msg.header.stamp = ros::Time::now(); - #endif - } else { - msg.header.stamp = ns_to_ros_time(stream->imageList[idx].timestamp); - } + #ifdef ROS2 + msg.header.stamp = make_aligned_stamp(stream->imageList[idx].timestamp, node_); + #else + msg.header.stamp = make_aligned_stamp(stream->imageList[idx].timestamp); + #endif msg.header.frame_id = "map"; int width = stream->imageList[idx].width; @@ -731,15 +771,11 @@ void publishRgb(capture_Image_List_t *stream) { cv::Mat decoded_image = cv::imdecode(jpeg_data, cv::IMREAD_COLOR); cv_bridge::CvImage cv_image; - if (getRosNodeControl()->useHostRosTime()) { - #ifdef ROS2 - cv_image.header.stamp = node_->now(); - #else - cv_image.header.stamp = ros::Time::now(); - #endif - } else { - cv_image.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp); - } + #ifdef ROS2 + cv_image.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp, node_); + #else + cv_image.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp); + #endif cv_image.encoding = "bgr8"; cv_image.image = decoded_image; @@ -775,15 +811,11 @@ void publishRgb(capture_Image_List_t *stream) { if (m_undistort_map_init_success) { cv::remap(decoded_image, undistorted_image, m_undistort_map_x, m_undistort_map_y, cv::INTER_LINEAR); - if (getRosNodeControl()->useHostRosTime()) { - #ifdef ROS2 - cv_undistorted_image.header.stamp = node_->now(); - #else - cv_undistorted_image.header.stamp = ros::Time::now(); - #endif - } else { - cv_undistorted_image.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp); - } + #ifdef ROS2 + cv_undistorted_image.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp, node_); + #else + cv_undistorted_image.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp); + #endif cv_undistorted_image.encoding = "bgr8"; cv_undistorted_image.image = undistorted_image; } @@ -795,13 +827,9 @@ void publishRgb(capture_Image_List_t *stream) { undistort_rgb_pub_->publish(*cv_undistorted_image.toImageMsg()); } - // original jpeg + // original jpeg - always publish as it's small sensor_msgs::msg::CompressedImage jpeg_msg; - if (getRosNodeControl()->useHostRosTime()) { - jpeg_msg.header.stamp = node_->now(); - } else { - jpeg_msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp); - } + jpeg_msg.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp, node_); jpeg_msg.format = "jpeg"; jpeg_msg.data = jpeg_data; @@ -816,11 +844,7 @@ void publishRgb(capture_Image_List_t *stream) { // original jpeg sensor_msgs::CompressedImagePtr jpeg_msg(new sensor_msgs::CompressedImage()); - if (getRosNodeControl()->useHostRosTime()) { - jpeg_msg->header.stamp = ros::Time::now(); - } else { - jpeg_msg->header.stamp = ns_to_ros_time(stream->imageList[0].timestamp); - } + jpeg_msg->header.stamp = make_aligned_stamp(stream->imageList[0].timestamp); jpeg_msg->format = "jpeg"; jpeg_msg->data = jpeg_data; @@ -837,11 +861,7 @@ void publishRgb(capture_Image_List_t *stream) { #ifdef ROS2 sensor_msgs::msg::PointCloud2 msg; msg.header.frame_id = "odom"; - if (getRosNodeControl()->useHostRosTime()) { - msg.header.stamp = node_->now(); - } else { - msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp); - } + msg.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp, node_); //RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Point cloudrgba %ld",stream->imageList[0].timestamp); @@ -869,11 +889,7 @@ void publishRgb(capture_Image_List_t *stream) { #else sensor_msgs::PointCloud2 msg; msg.header.frame_id = "odom"; - if (getRosNodeControl()->useHostRosTime()) { - msg.header.stamp = ros::Time::now(); - } else { - msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp); - } + msg.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp); size_t pt_size = sizeof(int32_t) * 3 + sizeof(int32_t) * 4; uint32_t points = stream->imageList[idx].length / pt_size; @@ -1098,15 +1114,11 @@ void publishRgb(capture_Image_List_t *stream) { if (data_len == sizeof(ros_odom_convert_complete_t)) { ros_odom_convert_complete_t* odom_data = (ros_odom_convert_complete_t*)stream->imageList[0].pAddr; - if (getRosNodeControl()->useHostRosTime()) { - #ifdef ROS2 - msg.header.stamp = node_->now(); - #else - msg.header.stamp = ros::Time::now(); - #endif - } else { - msg.header.stamp = ns_to_ros_time(odom_data->timestamp_ns); - } + #ifdef ROS2 + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns, node_); + #else + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns); + #endif msg.pose.pose.position.x = static_cast(odom_data->pos[0]) / 1e6; msg.pose.pose.position.y = static_cast(odom_data->pos[1]) / 1e6; @@ -1160,15 +1172,11 @@ void publishRgb(capture_Image_List_t *stream) { } else if (data_len == sizeof(ros2_odom_convert_t)) { ros2_odom_convert_t* odom_data = (ros2_odom_convert_t*)stream->imageList[0].pAddr; - if (getRosNodeControl()->useHostRosTime()) { - #ifdef ROS2 - msg.header.stamp = node_->now(); - #else - msg.header.stamp = ros::Time::now(); - #endif - } else { - msg.header.stamp = ns_to_ros_time(odom_data->timestamp_ns); - } + #ifdef ROS2 + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns, node_); + #else + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns); + #endif msg.pose.pose.position.x = static_cast(odom_data->pos[0]) / 1e6; msg.pose.pose.position.y = static_cast(odom_data->pos[1]) / 1e6; @@ -1186,11 +1194,7 @@ void publishRgb(capture_Image_List_t *stream) { { if (getRosNodeControl()->sendOdomBaseLinkTF()) { geometry_msgs::msg::TransformStamped transformStamped; - if (getRosNodeControl()->useHostRosTime()) { - transformStamped.header.stamp = node_->now(); - } else { - transformStamped.header.stamp = msg.header.stamp; - } + transformStamped.header.stamp = msg.header.stamp; transformStamped.header.frame_id = "odom"; transformStamped.child_frame_id = "odin1_base_link"; transformStamped.transform.translation.x = msg.pose.pose.position.x; @@ -1266,11 +1270,7 @@ void publishRgb(capture_Image_List_t *stream) { case OdometryType::TRANSFORM: { geometry_msgs::msg::TransformStamped transformStamped; - if (getRosNodeControl()->useHostRosTime()) { - transformStamped.header.stamp = node_->now(); - } else { - transformStamped.header.stamp = msg.header.stamp; - } + transformStamped.header.stamp = msg.header.stamp; transformStamped.header.frame_id = "odom"; transformStamped.child_frame_id = "map"; transformStamped.transform.translation.x = msg.pose.pose.position.x; @@ -1290,11 +1290,7 @@ void publishRgb(capture_Image_List_t *stream) { { if (getRosNodeControl()->sendOdomBaseLinkTF()) { geometry_msgs::TransformStamped transformStamped; - if (getRosNodeControl()->useHostRosTime()) { - transformStamped.header.stamp = ros::Time::now(); - } else { - transformStamped.header.stamp = msg.header.stamp; - } + transformStamped.header.stamp = msg.header.stamp; transformStamped.header.frame_id = "odom"; transformStamped.child_frame_id = "odin1_base_link"; transformStamped.transform.translation.x = msg.pose.pose.position.x; @@ -1371,11 +1367,7 @@ void publishRgb(capture_Image_List_t *stream) { case OdometryType::TRANSFORM: { geometry_msgs::TransformStamped transformStamped; - if (getRosNodeControl()->useHostRosTime()) { - transformStamped.header.stamp = ros::Time::now(); - } else { - transformStamped.header.stamp = msg.header.stamp; - } + transformStamped.header.stamp = msg.header.stamp; transformStamped.header.frame_id = "odom"; transformStamped.child_frame_id = "map"; transformStamped.transform.translation.x = msg.pose.pose.position.x; @@ -1592,22 +1584,28 @@ private: void initialize_publishers() { #ifdef ROS2 - auto qos_profile = rclcpp::QoS(1) + // Small data with queue depth 1 + auto qos_small = rclcpp::QoS(1) .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE) .durability(RMW_QOS_POLICY_DURABILITY_VOLATILE); - imu_pub_ = node_->create_publisher("odin1/imu", qos_profile); - rgb_pub_ = node_->create_publisher("odin1/image", qos_profile); - cloud_pub_ = node_->create_publisher("odin1/cloud_raw", qos_profile); - xyzrgbacloud_pub_ = node_->create_publisher("odin1/cloud_slam", qos_profile); - odom_publisher_ = node_->create_publisher("odin1/odometry", qos_profile); - odom_highfreq_publisher_ = node_->create_publisher("odin1/odometry_highfreq", qos_profile); - path_publisher_ = node_->create_publisher("odin1/path", qos_profile); - pub_camera_pose_visual_ = node_->create_publisher("odin1/camera_pose_visual", qos_profile); - rgbcloud_pub_ = node_->create_publisher("odin1/cloud_render", qos_profile); - compressed_rgb_pub_ = node_->create_publisher("odin1/image/compressed", qos_profile); - undistort_rgb_pub_ = node_->create_publisher("odin1/image/undistorted", qos_profile); - intensity_gray_pub_ = node_->create_publisher("odin1/image/intensity_gray", qos_profile); + // Large sensor data with larger queue to avoid blocking + auto qos_sensor = rclcpp::QoS(10) + .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE) + .durability(RMW_QOS_POLICY_DURABILITY_VOLATILE); + + imu_pub_ = node_->create_publisher("odin1/imu", qos_small); + rgb_pub_ = node_->create_publisher("odin1/image", qos_sensor); + cloud_pub_ = node_->create_publisher("odin1/cloud_raw", qos_sensor); + xyzrgbacloud_pub_ = node_->create_publisher("odin1/cloud_slam", qos_sensor); + odom_publisher_ = node_->create_publisher("odin1/odometry", qos_small); + odom_highfreq_publisher_ = node_->create_publisher("odin1/odometry_highfreq", qos_small); + path_publisher_ = node_->create_publisher("odin1/path", qos_sensor); + pub_camera_pose_visual_ = node_->create_publisher("odin1/camera_pose_visual", qos_sensor); + rgbcloud_pub_ = node_->create_publisher("odin1/cloud_render", qos_sensor); + compressed_rgb_pub_ = node_->create_publisher("odin1/image/compressed", qos_small); + undistort_rgb_pub_ = node_->create_publisher("odin1/image/undistorted", qos_sensor); + intensity_gray_pub_ = node_->create_publisher("odin1/image/intensity_gray", qos_sensor); tf_broadcaster = std::make_unique(node_); #endif } diff --git a/include/lidar_api.h b/include/lidar_api.h index c7bc9c1..21268a0 100644 --- a/include/lidar_api.h +++ b/include/lidar_api.h @@ -128,7 +128,6 @@ int lidar_set_mode(device_handle device, int mode); * * @param device Handle to the target device * @param type Type of data stream to start (see stream type definitions in lidar_api_type.h) - * @param dtof_subframe_odr DTOF subframe ODR from device, used for raw point cloud per-point time offset estimation * @return int 0 on success, negative error code on failure */ int lidar_start_stream(device_handle device, int type, uint32_t &dtof_subframe_odr); @@ -255,6 +254,18 @@ int lidar_get_custom_parameter(device_handle device, const char* param_name, int */ int lidar_enable_encrypted_device_log(device_handle device, const char* dest_dir); + +/** + * @brief Set the depth parameters for the device + * + * This function must be called before starting data stream. + * + * @param device Handle to the target device + * @param params Pointer to the depth parameters to set + * @return int 0 on success, negative error code on failure + */ +int lidar_set_depth_parameter(device_handle device, const lidar_depth_para_t *params); + #ifdef __cplusplus } #endif diff --git a/include/lidar_api_type.h b/include/lidar_api_type.h index 7b4cc61..4d127ae 100644 --- a/include/lidar_api_type.h +++ b/include/lidar_api_type.h @@ -56,7 +56,8 @@ typedef enum { LIDAR_DT_DEV_STATUS, LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ, LIDAR_DT_SLAM_ODOMETRY_TF, - LIDAR_DT_SLAM_WIWC + LIDAR_DT_SLAM_WIWC, + LIDAR_DT_NTP } lidar_data_type_e; typedef struct { @@ -117,6 +118,11 @@ typedef struct { uint32_t height; } buffer_List_t; +typedef struct { + double delay; + double offset; +} ptp_sync_data_t; + typedef struct capture_Image_List_t { uint32_t imageCount; buffer_List_t imageList[DEVICE_MAX_CH_NUMBER]; @@ -220,6 +226,15 @@ typedef enum { LIDAR_DEVICE_STREAM_STOPPED, } lidar_device_initial_state_e; +typedef enum { + LIDAR_DEPTH_ODR_10HZ = 0, + LIDAR_DEPTH_ODR_14_5HZ, +} lidar_depth_odr_e; + +typedef struct { + lidar_depth_odr_e odr; +} lidar_depth_para_t; + #ifdef __cplusplus } #endif diff --git a/launch_ROS1/odin1_ros1.launch b/launch_ROS1/odin1_ros1.launch index da14c97..e9790f2 100644 --- a/launch_ROS1/odin1_ros1.launch +++ b/launch_ROS1/odin1_ros1.launch @@ -21,6 +21,11 @@ + + + + + diff --git a/launch_ROS2/odin1_ros2.launch.py b/launch_ROS2/odin1_ros2.launch.py index 34224f0..af0f4cd 100644 --- a/launch_ROS2/odin1_ros2.launch.py +++ b/launch_ROS2/odin1_ros2.launch.py @@ -50,6 +50,21 @@ def generate_launch_description(): output='screen', parameters=[pcd2depth_params] ) + + # Cloud reprojection node + reprojection_config_path = os.path.join(package_dir, 'config', 'control_command.yaml') + with open(reprojection_config_path, 'r') as f: + reprojection_params = yaml.safe_load(f) + reprojection_calib_path = os.path.join(package_dir, 'config', 'calib.yaml') + reprojection_params['calib_file_path'] = reprojection_calib_path + cloud_reprojection_node = Node( + package='odin_ros_driver', + executable='cloud_reprojection_ros2_node', + name='cloud_reprojection_ros2_node', + output='screen', + parameters=[reprojection_params] + ) + # Create RViz2 node - loads specified configuration file rviz_node = Node( package='rviz2', @@ -65,6 +80,7 @@ def generate_launch_description(): ld.add_action(rviz_config_arg) # Add RViz configuration argument ld.add_action(host_sdk_node) ld.add_action(pcd2depth_node) + ld.add_action(cloud_reprojection_node) ld.add_action(rviz_node) # Add RViz node return ld diff --git a/lib/liblydHostApi_amd.a b/lib/liblydHostApi_amd.a index 8660301fbfd218e8828b1be9db171c9feecb8164..9a258881915ecf032afbec854957708da2204568 100644 GIT binary patch delta 80889 zcmcG%2Y6IP7e9RG?%fd5Hb6+DB!SRddO}Ym$P$Buj-iDf5lMt7i0A?#z!E}>Fo+=d zDhgP@!W%@8U;#v>i-?K=RH_ga0TIY|X6D@FAsc<-+5uD@g4_}skgQMse1j(&W6-uS8S{TeXmf=6^z zbZk;waaOPPy5}?Ry?QrS*ZV(E99Z!w3+8p^8?h_>*ihD-kG8W8{LA@9?d|K?Ba97F zKuetsW|`{xZ5sb8i;K13cKLd`lg;@~p)M z@?8s!sFKCCSOdm(D~WGB*(kPCT~DYD7B;KvYqi1h+w!_3&x>@*Shh6wB<0$(VB zalULJV;Vma${KTT2OGzH_}PZg!1WF`iZ2OfO?bFJ%Vp>Ja(}jzUE>jTn44Wx!l&!7 zNXC+cKzrV<9(z-dxAE`lvFG*nHvU8abFm1eEWAF;Vu9* 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zeA9TCduzAit`eo~9tXavxJz1sO?Q8hD`+W|sC$Oi-=w(nf0F&Hi2oQagb%(Upsf=Bb*K6KMiF=(|?2uGp4`0=$rpmpe*!EA{A0j7?mzbqhz|xcgJnH%W-@rouKz{#XxN(pfBsqMreNe$Z}F>F!Qh*B#CAqckuj(D z#2wc|`RQOZ7(Lbd>(|}}D_`6Zg2Lr+_RbvkiJ{LmFi^N76Ozl}=#KJJ0jPL3<4wKE zJEAaOxML^$pS&Gc28Sc?+H&~N&N>b&^1 zZ-@MII6pXz?tezp_z%f6?`tspXN-zn0k5Gc*#D#6W3RsrVk^i3SHj_y@S)45-KBE4 zP`D!-UY!hH3B%6VdL_Ju#$e`n@3CKEz(uTSY1EAeoUY)H=R(&&lVj0wj{$-!tAHy{jWrb0LG lEd2#lJ_$!w!?)}j{ynXJBNr odin_ros_driver 0.0.1 - ROS driver for Odin sensor + ROS2 driver for Odin sensor rlk Apache 2.0 - - - catkin - - - roscpp + + ament_cmake + + rclcpp + std_msgs sensor_msgs nav_msgs + geometry_msgs cv_bridge image_transport - - - eigen - opencv - yaml-cpp - - - - catkin - - + pcl_conversions + message_filters + tf2 + tf2_ros + tf2_geometry_msgs + + + ament_cmake + + \ No newline at end of file diff --git a/src/cloud_reprojection_ros.cpp b/src/cloud_reprojection_ros.cpp new file mode 100644 index 0000000..9207c53 --- /dev/null +++ b/src/cloud_reprojection_ros.cpp @@ -0,0 +1,435 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "cloud_reprojection_ros_node.hpp" + +#include +#include +#include +#include + +#ifdef ROS2 + #include + #include + #include +#else + #include +#endif + +// Fixed Til (T_imu_lidar): lidar position in imu frame, transforms from lidar to imu +// TODO: Fill in the actual Til values for your sensor setup +static Eigen::Matrix4d getFixedTil() +{ + Eigen::Matrix4d Til = Eigen::Matrix4d::Identity(); + Til(0, 3) = -0.02663; + Til(1, 3) = 0.03447; + Til(2, 3) = 0.02174; + return Til; +} + +static bool fileExists(const std::string& filename) { + struct stat buffer; + return (stat(filename.c_str(), &buffer) == 0); +} + +#ifdef ROS2 +// Helper function to get package source directory for ROS2 +static std::string get_package_source_directory() { + std::string current_file = __FILE__; + size_t pos = current_file.find("/src/cloud_reprojection_ros.cpp"); + if (pos != std::string::npos) { + return current_file.substr(0, pos); + } + return ""; +} + +// ==================== ROS2 Implementation ==================== + +CloudReprojectionRosNode::CloudReprojectionRosNode(const rclcpp::NodeOptions& options) + : Node("cloud_reprojection_node", options) +{ + loadParameters(); + + RCLCPP_INFO_STREAM(this->get_logger(), + "\n cloud_slam_topic: " << cloud_slam_topic_ + << "\n odometry_topic: " << odometry_topic_ + << "\n reprojected_image_topic: " << reprojected_image_topic_); + + cloud_sub_.subscribe(this, cloud_slam_topic_); + odom_sub_.subscribe(this, odometry_topic_); + + sync_ = std::make_shared(MySyncPolicy(10), cloud_sub_, odom_sub_); + sync_->registerCallback(std::bind(&CloudReprojectionRosNode::syncCallback, this, + std::placeholders::_1, std::placeholders::_2)); + + reprojected_image_pub_ = image_transport::create_publisher(this, reprojected_image_topic_); + + RCLCPP_INFO(this->get_logger(), "CloudReprojectionRosNode initialized successfully"); +} + +void CloudReprojectionRosNode::loadParameters() +{ + // Declare and get parameters + this->declare_parameter("cloud_slam_topic", "/odin1/cloud_slam"); + this->declare_parameter("odometry_topic", "/odin1/odometry"); + this->declare_parameter("reprojected_image_topic", "/odin1/reprojected_image"); + + cloud_slam_topic_ = this->get_parameter("cloud_slam_topic").as_string(); + odometry_topic_ = this->get_parameter("odometry_topic").as_string(); + reprojected_image_topic_ = this->get_parameter("reprojected_image_topic").as_string(); + + // Load camera parameters from calib.yaml file directly + std::string package_path = get_package_source_directory(); + std::string calib_file = package_path + "/config/calib.yaml"; + + YAML::Node calib_config; + try { + calib_config = YAML::LoadFile(calib_file); + } catch (const std::exception& e) { + RCLCPP_ERROR(this->get_logger(), "Failed to load calib.yaml: %s", e.what()); + rclcpp::shutdown(); + return; + } + + CloudReprojector::CameraParams cam_params; + try { + cam_params.image_width = calib_config["cam_0"]["image_width"].as(); + cam_params.image_height = calib_config["cam_0"]["image_height"].as(); + cam_params.A11 = calib_config["cam_0"]["A11"].as(); + cam_params.A12 = calib_config["cam_0"]["A12"].as(); + cam_params.A22 = calib_config["cam_0"]["A22"].as(); + cam_params.u0 = calib_config["cam_0"]["u0"].as(); + cam_params.v0 = calib_config["cam_0"]["v0"].as(); + cam_params.k2 = calib_config["cam_0"]["k2"].as(); + cam_params.k3 = calib_config["cam_0"]["k3"].as(); + cam_params.k4 = calib_config["cam_0"]["k4"].as(); + cam_params.k5 = calib_config["cam_0"]["k5"].as(); + cam_params.k6 = calib_config["cam_0"]["k6"].as(); + cam_params.k7 = calib_config["cam_0"]["k7"].as(); + } catch (const std::exception& e) { + RCLCPP_ERROR(this->get_logger(), "Failed to parse camera parameters: %s", e.what()); + rclcpp::shutdown(); + return; + } + + // Load extrinsic parameters + CloudReprojector::ExtrinsicParams ext_params; + try { + auto Tcl_vec = calib_config["Tcl_0"].as>(); + + if (Tcl_vec.size() == 16) + { + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j) + ext_params.Tcl(i, j) = Tcl_vec[i * 4 + j]; + } + else + { + RCLCPP_ERROR(this->get_logger(), "Tcl_0 has invalid size: %zu (expected 16)", Tcl_vec.size()); + rclcpp::shutdown(); + return; + } + } catch (const std::exception& e) { + RCLCPP_ERROR(this->get_logger(), "Failed to parse Tcl_0: %s", e.what()); + rclcpp::shutdown(); + return; + } + + ext_params.Til = getFixedTil(); + ext_params.Tic = CloudReprojector::calculateTic(ext_params.Tcl, ext_params.Til); + + RCLCPP_INFO_STREAM(this->get_logger(), "Loaded Tcl (camera to lidar):\n" << ext_params.Tcl); + RCLCPP_INFO_STREAM(this->get_logger(), "Fixed Til (lidar to imu):\n" << ext_params.Til); + RCLCPP_INFO_STREAM(this->get_logger(), "Calculated Tic:\n" << ext_params.Tic); + + RCLCPP_INFO(this->get_logger(), "Camera intrinsics:"); + RCLCPP_INFO(this->get_logger(), "Image size: %dx%d", cam_params.image_width, cam_params.image_height); + RCLCPP_INFO(this->get_logger(), "Intrinsics: A11=%f A12=%f A22=%f u0=%f v0=%f", + cam_params.A11, cam_params.A12, cam_params.A22, cam_params.u0, cam_params.v0); + + reprojector_ = std::make_unique(); + if (!reprojector_->initialize(cam_params, ext_params)) + { + RCLCPP_ERROR(this->get_logger(), "Failed to initialize CloudReprojector"); + rclcpp::shutdown(); + } +} + +void CloudReprojectionRosNode::syncCallback( + const PointCloud2::ConstSharedPtr& cloud_msg, + const Odometry::ConstSharedPtr& odom_msg) +{ + pcl::PointCloud cloud_odom; + pcl::fromROSMsg(*cloud_msg, cloud_odom); + + if (cloud_odom.empty()) + { + RCLCPP_WARN(this->get_logger(), "Empty cloud_slam received"); + return; + } + + CloudReprojector::OdomPose odom_pose; + odom_pose.orientation = Eigen::Quaterniond( + odom_msg->pose.pose.orientation.w, + odom_msg->pose.pose.orientation.x, + odom_msg->pose.pose.orientation.y, + odom_msg->pose.pose.orientation.z + ); + odom_pose.position = Eigen::Vector3d( + odom_msg->pose.pose.position.x, + odom_msg->pose.pose.position.y, + odom_msg->pose.pose.position.z + ); + + cv::Mat reprojected_img = reprojector_->reprojectCloud(cloud_odom, odom_pose); + + auto img_msg = cv_bridge::CvImage(cloud_msg->header, "bgr8", reprojected_img).toImageMsg(); + reprojected_image_pub_.publish(*img_msg); +} + +// ==================== ROS2 Main ==================== +int main(int argc, char** argv) +{ + rclcpp::init(argc, argv); + + auto temp_node = std::make_shared("cloud_reprojection_check"); + + // Check if reprojection is enabled from control_command.yaml + std::string package_path = get_package_source_directory(); + std::string config_file = package_path + "/config/control_command.yaml"; + + try { + YAML::Node config = YAML::LoadFile(config_file); + std::cout << "config: " << config_file << std::endl; + if (!config["register_keys"] || !config["register_keys"]["sendreprojection"]) { + RCLCPP_INFO(temp_node->get_logger(), "sendreprojection parameter not found, cloud reprojection disabled."); + rclcpp::shutdown(); + return 0; + } + + int sendreprojection = config["register_keys"]["sendreprojection"].as(); + if (sendreprojection == 0) { + RCLCPP_INFO(temp_node->get_logger(), "Cloud reprojection will not be published."); + rclcpp::shutdown(); + return 0; + } + } catch (const std::exception& e) { + RCLCPP_ERROR(temp_node->get_logger(), "Failed to read config: %s", e.what()); + rclcpp::shutdown(); + return 1; + } + + // Wait for calib.yaml file to be generated by host_sdk_sample + std::string calib_file = package_path + "/config/calib.yaml"; + RCLCPP_INFO(temp_node->get_logger(), "Waiting for calib.yaml file at: %s", calib_file.c_str()); + + int wait_count = 0; + while (rclcpp::ok() && !fileExists(calib_file)) { + if (wait_count % 10 == 0) { + RCLCPP_INFO(temp_node->get_logger(), "Still waiting for calib.yaml file..."); + } + std::this_thread::sleep_for(std::chrono::milliseconds(5000)); + wait_count++; + + // Timeout after 5 seconds + if (wait_count > 10) { + RCLCPP_ERROR(temp_node->get_logger(), "Timeout waiting for calib.yaml file"); + rclcpp::shutdown(); + return 1; + } + } + + if (!rclcpp::ok()) { + RCLCPP_INFO(temp_node->get_logger(), "Node shutdown before calib.yaml file was found."); + return 0; + } + + RCLCPP_INFO(temp_node->get_logger(), "Found calib.yaml file! Starting cloud reprojection node..."); + + auto node = std::make_shared(); + + RCLCPP_INFO(node->get_logger(), "CloudReprojectionRosNode started"); + + rclcpp::spin(node); + rclcpp::shutdown(); + + return 0; +} + +#else +// ==================== ROS1 Implementation ==================== + +CloudReprojectionRosNode::CloudReprojectionRosNode(ros::NodeHandle& nh, ros::NodeHandle& pnh) + : nh_(nh), pnh_(pnh) +{ + loadParameters(); + + ROS_INFO_STREAM("\n cloud_slam_topic: " << cloud_slam_topic_ + << "\n odometry_topic: " << odometry_topic_ + << "\n reprojected_image_topic: " << reprojected_image_topic_); + + cloud_sub_.subscribe(nh_, cloud_slam_topic_, 1); + odom_sub_.subscribe(nh_, odometry_topic_, 1); + + sync_ = std::make_shared(MySyncPolicy(10), cloud_sub_, odom_sub_); + sync_->registerCallback(boost::bind(&CloudReprojectionRosNode::syncCallback, this, _1, _2)); + + reprojected_image_pub_ = nh_.advertise(reprojected_image_topic_, 1); + + ROS_INFO("CloudReprojectionRosNode initialized successfully"); +} + +void CloudReprojectionRosNode::loadParameters() +{ + pnh_.param("cloud_slam_topic", cloud_slam_topic_, std::string("/odin1/cloud_slam")); + pnh_.param("odometry_topic", odometry_topic_, std::string("/odin1/odometry")); + pnh_.param("reprojected_image_topic", reprojected_image_topic_, std::string("/odin1/reprojected_image")); + + // Load camera parameters + CloudReprojector::CameraParams cam_params; + pnh_.param("cam_0/image_width", cam_params.image_width, 1600); + pnh_.param("cam_0/image_height", cam_params.image_height, 1296); + pnh_.param("cam_0/A11", cam_params.A11, 0.0); + pnh_.param("cam_0/A12", cam_params.A12, 0.0); + pnh_.param("cam_0/A22", cam_params.A22, 0.0); + pnh_.param("cam_0/u0", cam_params.u0, 0.0); + pnh_.param("cam_0/v0", cam_params.v0, 0.0); + pnh_.param("cam_0/k2", cam_params.k2, 0.0); + pnh_.param("cam_0/k3", cam_params.k3, 0.0); + pnh_.param("cam_0/k4", cam_params.k4, 0.0); + pnh_.param("cam_0/k5", cam_params.k5, 0.0); + pnh_.param("cam_0/k6", cam_params.k6, 0.0); + pnh_.param("cam_0/k7", cam_params.k7, 0.0); + + // Load extrinsic parameters + CloudReprojector::ExtrinsicParams ext_params; + std::vector Tcl_vec_param; + if (pnh_.getParam("Tcl_0", Tcl_vec_param) && Tcl_vec_param.size() == 16) + { + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j) + ext_params.Tcl(i, j) = Tcl_vec_param[i * 4 + j]; + } + else + { + ROS_ERROR("Tcl_0 param missing or invalid."); + ros::shutdown(); + return; + } + + ext_params.Til = getFixedTil(); + ext_params.Tic = CloudReprojector::calculateTic(ext_params.Tcl, ext_params.Til); + + ROS_INFO_STREAM("Loaded Tcl (camera to lidar):\n" << ext_params.Tcl); + ROS_INFO_STREAM("Fixed Til (lidar to imu):\n" << ext_params.Til); + ROS_INFO_STREAM("Calculated Tic:\n" << ext_params.Tic); + + ROS_INFO("Camera intrinsics:"); + ROS_INFO("Image size: %dx%d", cam_params.image_width, cam_params.image_height); + ROS_INFO("Intrinsics: A11=%f A12=%f A22=%f u0=%f v0=%f", + cam_params.A11, cam_params.A12, cam_params.A22, cam_params.u0, cam_params.v0); + + reprojector_ = std::make_unique(); + if (!reprojector_->initialize(cam_params, ext_params)) + { + ROS_ERROR("Failed to initialize CloudReprojector"); + ros::shutdown(); + } +} + +void CloudReprojectionRosNode::syncCallback( + const sensor_msgs::PointCloud2ConstPtr& cloud_msg, + const nav_msgs::OdometryConstPtr& odom_msg) +{ + pcl::PointCloud cloud_odom; + pcl::fromROSMsg(*cloud_msg, cloud_odom); + + if (cloud_odom.empty()) + { + ROS_WARN("Empty cloud_slam received"); + return; + } + + CloudReprojector::OdomPose odom_pose; + odom_pose.orientation = Eigen::Quaterniond( + odom_msg->pose.pose.orientation.w, + odom_msg->pose.pose.orientation.x, + odom_msg->pose.pose.orientation.y, + odom_msg->pose.pose.orientation.z + ); + odom_pose.position = Eigen::Vector3d( + odom_msg->pose.pose.position.x, + odom_msg->pose.pose.position.y, + odom_msg->pose.pose.position.z + ); + + cv::Mat reprojected_img = reprojector_->reprojectCloud(cloud_odom, odom_pose); + + sensor_msgs::ImagePtr img_msg = cv_bridge::CvImage(cloud_msg->header, "bgr8", reprojected_img).toImageMsg(); + reprojected_image_pub_.publish(img_msg); +} + +// ==================== ROS1 Main ==================== +int main(int argc, char **argv) +{ + ros::init(argc, argv, "cloud_reprojection"); + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + + // Check if reprojection is enabled + int sendreprojection = 0; + pnh.param("register_keys/sendreprojection", sendreprojection, 0); + if(sendreprojection == 0) + { + ROS_INFO("Cloud reprojection will not be published."); + return 0; + } + + std::string calib_file_path; + pnh.param("calib_file_path", calib_file_path, ""); + + ROS_INFO("Waiting for calib.yaml file at: %s", calib_file_path.c_str()); + while(ros::ok() && !fileExists(calib_file_path)) + { + ROS_INFO_THROTTLE(5, "Still waiting for calib.yaml file..."); + ros::Duration(0.5).sleep(); + ros::spinOnce(); + } + + if(!ros::ok()) + { + ROS_INFO("Node shutdown before calib.yaml file was found."); + return 0; + } + + ROS_INFO("Found calib.yaml file! Loading parameters..."); + + std::string node_name = ros::this_node::getName(); + std::string rosparam_command = "rosparam load " + calib_file_path + " " + node_name; + int result = system(rosparam_command.c_str()); + + if(result == 0) + { + ROS_INFO("Successfully loaded parameters from calib.yaml to namespace: %s", node_name.c_str()); + } + else + { + ROS_ERROR("Failed to load parameters from calib.yaml"); + return 1; + } + + CloudReprojectionRosNode reprojection_node(nh, pnh); + ros::spin(); + return 0; +} +#endif diff --git a/src/cloud_reprojector.cpp b/src/cloud_reprojector.cpp new file mode 100644 index 0000000..7ede028 --- /dev/null +++ b/src/cloud_reprojector.cpp @@ -0,0 +1,113 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "cloud_reprojector.hpp" +#include + +CloudReprojector::CloudReprojector() +{ +} + +bool CloudReprojector::initialize(const CameraParams& cam_params, const ExtrinsicParams& ext_params) +{ + camera_params_ = cam_params; + extrinsic_params_ = ext_params; + + if (camera_params_.A11 < 1e-6 || camera_params_.A22 < 1e-6 || + camera_params_.u0 < 1e-6 || camera_params_.v0 < 1e-6) + { + return false; + } + + camera_model_ = std::make_unique( + camera_params_.image_width, camera_params_.image_height, + camera_params_.A11, camera_params_.A22, + camera_params_.u0, camera_params_.v0, + camera_params_.A12, + camera_params_.k2, camera_params_.k3, camera_params_.k4, + camera_params_.k5, camera_params_.k6, camera_params_.k7 + ); + + initialized_ = true; + return true; +} + +Eigen::Matrix4d CloudReprojector::calculateTic(const Eigen::Matrix4d& Tcl, const Eigen::Matrix4d& Til) +{ + // Tic = Til * Tlc = Til * Tcl.inverse() + Eigen::Matrix4d Tlc = Tcl.inverse(); + return Til * Tlc; +} + +Eigen::Matrix4d CloudReprojector::odomPoseToMatrix(const OdomPose& odom) const +{ + Eigen::Matrix4d T = Eigen::Matrix4d::Identity(); + T.block<3, 3>(0, 0) = odom.orientation.toRotationMatrix(); + T(0, 3) = odom.position.x(); + T(1, 3) = odom.position.y(); + T(2, 3) = odom.position.z(); + return T; +} + +cv::Mat CloudReprojector::reprojectCloud(const pcl::PointCloud& cloud_odom, + const OdomPose& odom_pose) +{ + if (!initialized_) + { + return cv::Mat(); + } + + // T_odom_imu: imu pose in odom frame + Eigen::Matrix4d T_odom_imu = odomPoseToMatrix(odom_pose); + + // T_imu_odom: transforms points from odom frame to imu frame + Eigen::Matrix4d T_imu_odom = T_odom_imu.inverse(); + + // T_cam_imu = Tic.inverse(): transforms from imu to camera + Eigen::Matrix4d T_cam_imu = extrinsic_params_.Tic.inverse(); + + // T_cam_odom: transforms points from odom frame to camera frame + Eigen::Matrix4d T_cam_odom = T_cam_imu * T_imu_odom; + + pcl::PointCloud cloud_in_cam; + pcl::transformPointCloud(cloud_odom, cloud_in_cam, T_cam_odom); + + return projectCloudToImage(cloud_in_cam); +} + +cv::Mat CloudReprojector::projectCloudToImage(const pcl::PointCloud& cloud_in_cam) const +{ + cv::Mat img = cv::Mat::zeros(camera_params_.image_height, camera_params_.image_width, CV_8UC3); + img.setTo(cv::Scalar(255, 255, 255)); + + for (const auto& pt : cloud_in_cam) + { + if (pt.z <= 0.01) + continue; + + Eigen::Vector3d pt_cam(pt.x, pt.y, pt.z); + Eigen::Vector2d uv = camera_model_->world2cam(pt_cam); + + int u_int = static_cast(std::round(uv[0])); + int v_int = static_cast(std::round(uv[1])); + + if (u_int >= 0 && u_int < camera_params_.image_width && + v_int >= 0 && v_int < camera_params_.image_height) + { + cv::circle(img, cv::Point(u_int, v_int), point_radius_, + cv::Scalar(pt.b, pt.g, pt.r), -1); + } + } + + return img; +} diff --git a/src/host_sdk_sample.cpp b/src/host_sdk_sample.cpp index 136e0a0..3640d9e 100644 --- a/src/host_sdk_sample.cpp +++ b/src/host_sdk_sample.cpp @@ -46,9 +46,9 @@ limitations under the License. #include #include #endif -#define ros_driver_version "0.8.0" +#define ros_driver_version "0.9.0" #define required_firmware_version_major 0 -#define required_firmware_version_minor 9 +#define required_firmware_version_minor 10 #define required_firmware_version_patch 0 // Global variable declarations @@ -85,6 +85,21 @@ static std::shared_ptr g_renderer = nullptr; std::string calib_file_ = ""; static std::shared_ptr g_parser = nullptr; +static constexpr size_t PTP_SMOOTH_WINDOW_SIZE = 30; +static std::mutex g_ptp_mutex; +static std::deque g_ptp_delay_buf; +static std::deque g_ptp_offset_buf; +static std::atomic g_ptp_delay_smooth{0.0}; +static std::atomic g_ptp_offset_smooth{0.0}; + +double get_ptp_smoothed_delay() { + return g_ptp_delay_smooth.load(std::memory_order_relaxed); +} + +double get_ptp_smoothed_offset() { + return g_ptp_offset_smooth.load(std::memory_order_relaxed); +} + // usb device static std::string TARGET_VENDOR = "2207"; static std::string TARGET_PRODUCT = "0019"; @@ -106,6 +121,8 @@ int g_show_camerapose = 0; int g_strict_usb3_0_check = 0; int g_use_host_ros_time = 0; int g_save_log = 0; +int g_cloud_raw_confidence_threshold = 35; +int g_dtof_fps = 145; // DTOF sensor frame rate: 100 (10fps) or 145 (14.5fps) std::filesystem::path log_root_dir_; int g_custom_map_mode = 0; @@ -178,15 +195,7 @@ class RosNodeControlImpl : public RosNodeControlInterface { int getDtofSubframeODR() const override { return dtof_subframe_interval_time; } - - void setUseHostRosTime(bool use_host_ros_time) override { - pub_use_host_ros_time = use_host_ros_time; - } - - bool useHostRosTime() const override { - return pub_use_host_ros_time; - } - + void setSendOdomBaseLinkTF(bool send_odom_baselink_tf) override { pub_odom_baselink_tf = send_odom_baselink_tf; } @@ -195,10 +204,17 @@ class RosNodeControlImpl : public RosNodeControlInterface { return pub_odom_baselink_tf; } + void setCloudRawConfidenceThreshold(int threshold) { + cloud_raw_confidence_threshold = threshold; + } + int cloudRawConfidenceThreshold() const { + return cloud_raw_confidence_threshold; + } private: int dtof_subframe_interval_time = 0; bool pub_use_host_ros_time = false; bool pub_odom_baselink_tf = false; + int cloud_raw_confidence_threshold = 35; }; static RosNodeControlImpl g_rosNodeControlImpl; @@ -988,6 +1004,45 @@ static void lidar_data_callback(const lidar_data_t *data, void *user_data) } } break; + case LIDAR_DT_NTP: + { + uint32_t data_len = data->stream.imageList[0].length; + if (data_len == sizeof(ptp_sync_data_t)) { + ptp_sync_data_t* ptp_data = (ptp_sync_data_t*)data->stream.imageList[0].pAddr; + { + std::lock_guard lock(g_ptp_mutex); + g_ptp_delay_buf.push_back(ptp_data->delay); + g_ptp_offset_buf.push_back(ptp_data->offset); + + if (g_ptp_delay_buf.size() > PTP_SMOOTH_WINDOW_SIZE) { + g_ptp_delay_buf.pop_front(); + } + if (g_ptp_offset_buf.size() > PTP_SMOOTH_WINDOW_SIZE) { + g_ptp_offset_buf.pop_front(); + } + + double delay_sum = 0.0; + for (double v : g_ptp_delay_buf) delay_sum += v; + double offset_sum = 0.0; + for (double v : g_ptp_offset_buf) offset_sum += v; + + if (!g_ptp_delay_buf.empty()) { + g_ptp_delay_smooth.store(delay_sum / static_cast(g_ptp_delay_buf.size()), std::memory_order_relaxed); + } + if (!g_ptp_offset_buf.empty()) { + g_ptp_offset_smooth.store(offset_sum / static_cast(g_ptp_offset_buf.size()), std::memory_order_relaxed); + } + } + + // std::cout << std::setprecision(16) + // << "PTP delay: " << ptp_data->delay + // << " offset:" << ptp_data->offset + // << " smooth_delay:" << get_ptp_smoothed_delay() + // << " smooth_offset:" << get_ptp_smoothed_offset() + // << std::endl; + } + } + break; default: printf("Unknown lidar data type: %x", data->type); return; @@ -1292,6 +1347,44 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach #endif } + + // Set DTOF sensor frame rate based on configuration + // Supported values: 100 (10fps) or 145 (14.5fps) + lidar_depth_para_t dtofpara; + if (g_dtof_fps == 100) { + dtofpara.odr = LIDAR_DEPTH_ODR_10HZ; + } else if (g_dtof_fps == 145) { + dtofpara.odr = LIDAR_DEPTH_ODR_14_5HZ; + } else { + // Default to 14.5Hz if invalid value + dtofpara.odr = LIDAR_DEPTH_ODR_14_5HZ; + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("ros[host_sdk_sample]"), + "Invalid dtof_fps value: %d, using default 14.5fps", g_dtof_fps); + #else + ROS_WARN("Invalid dtof_fps value: %d, using default 14.5fps", g_dtof_fps); + #endif + } + + if(lidar_set_depth_parameter(odinDevice, &dtofpara)) { + printf("set depth parameter failed.\n"); + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("ros[host_sdk_sample]"), "set depth parameter failed"); + #else + ROS_WARN("set depth parameter failed"); + #endif + return; + } + + // Log the configured frame rate + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("ros[host_sdk_sample]"), + "DTOF sensor frame rate set to %.1f fps", g_dtof_fps / 10.0); + #else + ROS_INFO("DTOF sensor frame rate set to %.1f fps", g_dtof_fps / 10.0); + #endif + + if (lidar_set_mode(odinDevice, type)) { #ifdef ROS2 RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Set mode failed"); @@ -1554,6 +1647,9 @@ int main(int argc, char *argv[]) g_sendrgb = get_key_value("sendrgb", 1); g_sendimu = get_key_value("sendimu", 1); g_senddtof = get_key_value("senddtof", 1); + g_cloud_raw_confidence_threshold = get_key_value("cloud_raw_confidence_threshold", 35); + g_rosNodeControlImpl.setCloudRawConfidenceThreshold(g_cloud_raw_confidence_threshold); + g_dtof_fps = get_key_value("dtof_fps", 145); // Read DTOF frame rate from config (100=10fps, 145=14.5fps) g_sendodom = get_key_value("sendodom", 1); g_send_odom_baselink_tf = get_key_value("send_odom_baselink_tf", 0); g_sendcloudslam = get_key_value("sendcloudslam", 0); @@ -1571,10 +1667,6 @@ int main(int argc, char *argv[]) g_use_host_ros_time = get_key_value("use_host_ros_time", 0); g_save_log = get_key_value("save_log", 0); - if (g_use_host_ros_time) { - g_rosNodeControlImpl.setUseHostRosTime(true); - } - if (g_send_odom_baselink_tf) { g_rosNodeControlImpl.setSendOdomBaseLinkTF(true); }