使用OS0-128激光雷达跑ALOAM，怎么修改

WOW995

我修改了launch文件和scanRegistration.cpp文件，没有跑成功。

<launch>
    
    <param name="scan_line" type="int" value="128" />

    <!-- if 1, do mapping 10 Hz, if 2, do mapping 5 Hz. Suggest to use 1, it will adjust frequence automaticlly -->
    <param name="mapping_skip_frame" type="int" value="1" />

    <!-- remove too closed points -->
    <param name="minimum_range" type="double" value="5"/>

    <remap from="/velodyne_points" to="/os_cloud_node/points"/>

    <param name="mapping_line_resolution" type="double" value="0.4"/>
    <param name="mapping_plane_resolution" type="double" value="0.8"/>

    <node pkg="aloam_velodyne" type="ascanRegistration" name="ascanRegistration" output="screen" />

    <node pkg="aloam_velodyne" type="alaserOdometry" name="alaserOdometry" output="screen" />

    <node pkg="aloam_velodyne" type="alaserMapping" name="alaserMapping" output="screen" />

    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find aloam_velodyne)/rviz_cfg/aloam_velodyne.rviz" />
    </group>

</launch>

    bool halfPassed = false;
    int count = cloudSize;
    PointType point;
    std::vector<pcl::PointCloud<PointType>> laserCloudScans(N_SCANS);
    for (int i = 0; i < cloudSize; i++)
    {
        point.x = laserCloudIn.points[i].x;
        point.y = laserCloudIn.points[i].y;
        point.z = laserCloudIn.points[i].z;

        float angle = atan(point.z / sqrt(point.x * point.x + point.y * point.y)) * 180 / M_PI;
        int scanID = 0;

        if (N_SCANS == 16)
        {
            scanID = int((angle + 15) / 2 + 0.5);  //确定每一个点的scanID，与垂直角度有关，确定这个点属于那个scan
            if (scanID > (N_SCANS - 1) || scanID < 0)  
            {
                count--;  //有效点减一
                continue;
            }
        }
        else if (N_SCANS == 32)
        {
            scanID = int((angle + 92.0/3.0) * 3.0 / 4.0);
            if (scanID > (N_SCANS - 1) || scanID < 0)
            {
                count--;
                continue;
            }
        }
        else if (N_SCANS == 64)
        {   
            if (angle >= -8.83)
                scanID = int((2 - angle) * 3.0 + 0.5);
            else
                scanID = N_SCANS / 2 + int((-8.83 - angle) * 2.0 + 0.5);

            // use [0 50]  > 50 remove outlies 
            if (angle > 2 || angle < -24.33 || scanID > 50 || scanID < 0)
            {
                count--;
                continue;
            }
        }
        else if (N_SCANS == 128)
        {
            scanID = int((angle + 45) / 2 + 0.5);  
            if (scanID > (N_SCANS - 1) || scanID < 0)  
            {
                count--;  
                continue;
            }
        }
        else
        {
            printf("wrong scan number\n");
            ROS_BREAK();
        }
        //printf("angle %f scanID %d \n", angle, scanID);

        float ori = -atan2(point.y, point.x);
        if (!halfPassed)
        { 
            if (ori < startOri - M_PI / 2)
            {
                ori += 2 * M_PI;
            }
            else if (ori > startOri + M_PI * 3 / 2)
            {
                ori -= 2 * M_PI;
            }

            if (ori - startOri > M_PI)
            {
                halfPassed = true;
            }
        }
        else
        {
            ori += 2 * M_PI;
            if (ori < endOri - M_PI * 3 / 2)
            {
                ori += 2 * M_PI;
            }
            else if (ori > endOri + M_PI / 2)
            {
                ori -= 2 * M_PI;
            }
        }

        float relTime = (ori - startOri) / (endOri - startOri);
        point.intensity = scanID + scanPeriod * relTime;// intensity字段的整数部分存放scanID，小数部分存放归一化后的fireID
        laserCloudScans[scanID].push_back(point); // 将点根据scanID放到对应的子点云laserCloudScans中
    }

主要修改了launch文件里面的线数，和更改了话题，scanRegistration.cpp文件里面按照16线的格式增加了128线的scanID。

小鱼

@小丑汪不好意思哈，没有这方面的经验，看看其他小伙伴有没有知道的

WOW995

好的，谢谢大佬，我再看看

Ccsama

@小丑汪大佬，请问您后来修改成功了吗，我也遇到了同样的问题。