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Add support for Velodyne Velarray M1600 #483

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7 changes: 5 additions & 2 deletions include/utility.h
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ using namespace std;

typedef pcl::PointXYZI PointType;

enum class SensorType { VELODYNE, OUSTER, LIVOX };
enum class SensorType { VELODYNE, OUSTER, LIVOX, VELODYNE_M1600 };

class ParamServer
{
Expand Down Expand Up @@ -186,11 +186,14 @@ class ParamServer
else if (sensorStr == "livox")
{
sensor = SensorType::LIVOX;
}
else if (sensorStr == "velodyne_m1600") {
sensor = SensorType::VELODYNE_M1600;
}
else
{
ROS_ERROR_STREAM(
"Invalid sensor type (must be either 'velodyne' or 'ouster' or 'livox'): " << sensorStr);
"Invalid sensor type (must be either 'velodyne' or 'ouster' or 'livox' or 'velodyne_m1600'): " << sensorStr);
ros::shutdown();
}

Expand Down
52 changes: 50 additions & 2 deletions src/imageProjection.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#include "utility.h"
#include "lio_sam/cloud_info.h"
#include "pcl/filters/impl/filter.hpp"

struct VelodynePointXYZIRT
{
Expand All @@ -13,6 +14,19 @@ POINT_CLOUD_REGISTER_POINT_STRUCT (VelodynePointXYZIRT,
(float, x, x) (float, y, y) (float, z, z) (float, intensity, intensity)
(uint16_t, ring, ring) (float, time, time)
)
struct Velodyne_M1600PointXYZIRT {
PCL_ADD_POINT4D;
uint8_t intensity;
uint8_t ring;
uint32_t timestampSec;
uint32_t timestampNsec;

EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
POINT_CLOUD_REGISTER_POINT_STRUCT(
Velodyne_M1600PointXYZIRT,
(float, x, x)(float, y, y)(float, z, z)(uint8_t, intensity, intensity)(
uint8_t, ring, ring)(uint32_t, timestampSec, timestampSec)(uint32_t, timestampNsec, timestampNsec))

struct OusterPointXYZIRT {
PCL_ADD_POINT4D;
Expand Down Expand Up @@ -68,6 +82,7 @@ class ImageProjection : public ParamServer

pcl::PointCloud<PointXYZIRT>::Ptr laserCloudIn;
pcl::PointCloud<OusterPointXYZIRT>::Ptr tmpOusterCloudIn;
pcl::PointCloud<Velodyne_M1600PointXYZIRT>::Ptr tmpM1600CloudIn;
pcl::PointCloud<PointType>::Ptr fullCloud;
pcl::PointCloud<PointType>::Ptr extractedCloud;

Expand Down Expand Up @@ -108,6 +123,7 @@ class ImageProjection : public ParamServer
{
laserCloudIn.reset(new pcl::PointCloud<PointXYZIRT>());
tmpOusterCloudIn.reset(new pcl::PointCloud<OusterPointXYZIRT>());
tmpM1600CloudIn.reset(new pcl::PointCloud<Velodyne_M1600PointXYZIRT>());
fullCloud.reset(new pcl::PointCloud<PointType>());
extractedCloud.reset(new pcl::PointCloud<PointType>());

Expand Down Expand Up @@ -207,7 +223,27 @@ class ImageProjection : public ParamServer
if (sensor == SensorType::VELODYNE || sensor == SensorType::LIVOX)
{
pcl::moveFromROSMsg(currentCloudMsg, *laserCloudIn);
}
}
else if (sensor == SensorType::VELODYNE_M1600) {

pcl::moveFromROSMsg(currentCloudMsg, *tmpM1600CloudIn);
laserCloudIn->points.resize(tmpM1600CloudIn->size());
laserCloudIn->is_dense = tmpM1600CloudIn->is_dense;
double time_begins = tmpM1600CloudIn->points[0].timestampSec;
double time_beginns = tmpM1600CloudIn->points[0].timestampNsec;
double time_begin = time_begins + (time_beginns * 1e-9);
for (size_t i = 0; i < tmpM1600CloudIn->size(); i++) {
auto &src = tmpM1600CloudIn->points[i];
auto &dst = laserCloudIn->points[i];
dst.x = src.x;
dst.y = src.y*-1;
dst.z = src.z*-1;
dst.intensity = static_cast<float>(src.intensity);
dst.ring = src.ring;
double point_time = src.timestampSec + (src.timestampNsec * 1e-9);
dst.time = point_time-time_begin;
}
}
else if (sensor == SensorType::OUSTER)
{
// Convert to Velodyne format
Expand Down Expand Up @@ -236,6 +272,8 @@ class ImageProjection : public ParamServer
cloudHeader = currentCloudMsg.header;
timeScanCur = cloudHeader.stamp.toSec();
timeScanEnd = timeScanCur + laserCloudIn->points.back().time;
vector<int> indices;
pcl::removeNaNFromPointCloud(*laserCloudIn, *laserCloudIn, indices);

// check dense flag
if (laserCloudIn->is_dense == false)
Expand Down Expand Up @@ -270,7 +308,7 @@ class ImageProjection : public ParamServer
deskewFlag = -1;
for (auto &field : currentCloudMsg.fields)
{
if (field.name == "time" || field.name == "t")
if (field.name == "time" || field.name == "t" || field.name == "timestamp" || field.name == "timestampSec")
{
deskewFlag = 1;
break;
Expand Down Expand Up @@ -554,8 +592,18 @@ class ImageProjection : public ParamServer
{
columnIdn = columnIdnCountVec[rowIdn];
columnIdnCountVec[rowIdn] += 1;
} else if (sensor == SensorType::VELODYNE_M1600) {

float horizonAngle = atan2(thisPoint.x, thisPoint.y) * 180 / M_PI;

float ang_res_x = 0.29; // or 0.33 for the extended model, as per the specifications

columnIdn = round((horizonAngle / ang_res_x) + (Horizon_SCAN / 2));
if (columnIdn >= Horizon_SCAN)
columnIdn -= Horizon_SCAN;
}


if (columnIdn < 0 || columnIdn >= Horizon_SCAN)
continue;

Expand Down