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feat<all> 1.add cloud_raw confidence filter threshold to config yaml}

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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
This commit is contained in:
mt-lifan
2026-02-11 15:47:50 +08:00
parent e51cf98658
commit 4dcf0e0a97
19 changed files with 1143 additions and 190 deletions
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config/control_command.yaml
+15 -4
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@@ -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.