hjkim
82d3725779
FAST-LIVO2 dual/triple-camera VIO-LIO mapping workspace (ROS2 Humble),
including the N-camera port from Omni-LIVO, rpg_vikit multi-camera
parameter loader, and the um982_driver/gnss_comm packages staged here
ahead of RTK fusion work.
FAST-LIVO2 and rpg_vikit were previously separate git clones tracking
their own GitHub history (Robotic-Developer-Road org, humble/main
branches) — that history is preserved locally in
src/{FAST-LIVO2,rpg_vikit}/.git-github-backup (not pushed here) and
these two are now tracked flat as part of this repo going forward.
118 lines
5.8 KiB
YAML
118 lines
5.8 KiB
YAML
/**:
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ros__parameters:
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common:
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img_topic: "/left_camera/image"
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lid_topic: "/livox/lidar"
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imu_topic: "/livox/imu"
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img_en: 1
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lidar_en: 1
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ros_driver_bug_fix: false
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extrin_calib:
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extrinsic_T: [0.04165, 0.02326, -0.0284]
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extrinsic_R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
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# MARS_LVIG HKisland HKairport
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# Rcl: [0.00438814,-0.999807,-0.0191582,
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# -0.00978695,0.0191145,-0.999769,
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# 0.999942,0.00457463,-0.00970118]
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# Pcl: [0.016069, 0.0871753, -0.0718021]
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# MARS_LVIG AMtown AMvalley
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Rcl: [ -0.0022464, -0.9997299, -0.0231319,
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-0.0084211, 0.0231501, -0.9996966,
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0.9999620, -0.0020509, -0.0084708]
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Pcl: [-0.0025563, 0.0567484, -0.0512149]
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time_offset:
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imu_time_offset: 0.0
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img_time_offset: -0.1
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exposure_time_init: 0.0132
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# ╔═══════════════════════════════════════════════════════════════════════════════════════╗
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# ║ Configuration Settings ║
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# ╠═══════════════════════════════════════════════════════════════════════════════════════╣
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# ║ Series │ ID │ img_time_offset │ exposure_time_init │ -s (start hover) ║
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# ╠═══════════════════════════════════════════════════════════════════════════════════════╣
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# ║ HKairport │ HKairport01 │ 0.1 │ 0.0 │ 75 ║
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# ║ │ HKairport02 │ -0.1 │ 0.0 │ 60 ║
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# ║ │ HKairport03 │ -0.1 │ 0.0 │ 62 ║
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# ╠═══════════════════════════════════════════════════════════════════════════════════════╣
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# ║ HKisland │ HKisland01 │ 0.0 │ 0.0 │ 118 ║
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# ║ │ HKisland02 │ 0.1 │ 0.0 │ 80 ║
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# ║ │ HKisland03 │ -0.1 │ 0.0 │ 72 ║
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# ╠═══════════════════════════════════════════════════════════════════════════════════════╣
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# ║ AMtown │ AMtown01 │ -0.1 │ 0.0285 │ 75 ║
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# ║ │ AMtown02 │ -0.1 │ 0.0285 │ 50 ║
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# ║ │ AMtown03 │ -0.1 │ 0.0285 │ 106 ║
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# ╠═══════════════════════════════════════════════════════════════════════════════════════╣
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# ║ AMvalley │ AMvalley01 │ -0.1 │ 0.0132 │ 70 ║
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# ║ │ AMvalley02 │ -0.1 │ 0.0132 │ 65 ║
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# ║ │ AMvalley03 │ -0.1 │ 0.0132 │ 68 ║
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# ╚═══════════════════════════════════════════════════════════════════════════════════════╝
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preprocess:
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point_filter_num: 1
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filter_size_surf: 0.1
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lidar_type: 1 # Livox Avia LiDAR
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scan_line: 6
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blind: 0.8
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vio:
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max_iterations: 5
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outlier_threshold: 1000 # 78 100 156 #100 200 500 700 infinite
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img_point_cov: 1000 # 100 1000
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patch_size: 8
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patch_pyrimid_level: 4
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normal_en: true
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raycast_en: false
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inverse_composition_en: false
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exposure_estimate_en: true
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inv_expo_cov: 0.1
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imu:
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imu_en: true
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imu_int_frame: 30
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acc_cov: 2.0 # 0.5
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gyr_cov: 0.1 # 0.3
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b_acc_cov: 0.0001 # 0.1
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b_gyr_cov: 0.0001 # 0.1
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lio:
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max_iterations: 5
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dept_err: 0.02
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beam_err: 0.05
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min_eigen_value: 0.005
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voxel_size: 2.0 # 1.0
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max_layer: 2
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max_points_num: 50
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layer_init_num: [5, 5, 5, 5, 5]
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local_map:
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map_sliding_en: false
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half_map_size: 100
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sliding_thresh: 8.0
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uav:
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imu_rate_odom: false
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gravity_align_en: false
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publish:
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dense_map_en: true
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pub_effect_point_en: false
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pub_plane_en: false
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pub_scan_num: 1
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blind_rgb_points: 0.0
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evo:
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seq_name: "HKisland03"
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pose_output_en: false
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pcd_save:
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pcd_save_en: false
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type: 0 # 0: World Frame, 1: Body Frame;
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colmap_output_en: false # need to set interval = -1
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filter_size_pcd: 0.15
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interval: -1
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# how many LiDAR frames saved in each pcd file;
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# -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
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image_save:
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img_save_en: false
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interval: 1 |