Initial commit: workspace configuration and src

2026-08-07 14:22:54 +09:00
commit 0b8f64d39e
260 changed files with 53361 additions and 0 deletions
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+/**:
+  ros__parameters:
+    common:
+      img_topic: "/left_camera/image"
+      lid_topic: "/livox/lidar"
+      imu_topic: "/livox/imu"
+      img_en: 1
+      lidar_en: 1
+      ros_driver_bug_fix: false
+
+    extrin_calib:
+      extrinsic_T: [0.04165, 0.02326, -0.0284]
+      extrinsic_R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+      # MARS_LVIG HKisland HKairport
+      # Rcl: [0.00438814,-0.999807,-0.0191582,
+      #       -0.00978695,0.0191145,-0.999769,
+      #       0.999942,0.00457463,-0.00970118]
+      # Pcl: [0.016069, 0.0871753, -0.0718021]
+      # MARS_LVIG AMtown AMvalley
+      Rcl: [ -0.0022464, -0.9997299, -0.0231319,
+             -0.0084211,  0.0231501, -0.9996966,
+              0.9999620, -0.0020509, -0.0084708]
+      Pcl: [-0.0025563, 0.0567484, -0.0512149]
+
+    time_offset: 
+      imu_time_offset: 0.0
+      img_time_offset: -0.1
+      exposure_time_init: 0.0132
+    # ╔═══════════════════════════════════════════════════════════════════════════════════════╗
+    # ║                     Configuration Settings                                            ║
+    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
+    # ║    Series   │      ID     │ img_time_offset │ exposure_time_init │  -s (start hover)  ║
+    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
+    # ║  HKairport  │ HKairport01 │       0.1       │         0.0        │         75         ║
+    # ║             │ HKairport02 │      -0.1       │         0.0        │         60         ║
+    # ║             │ HKairport03 │      -0.1       │         0.0        │         62         ║
+    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
+    # ║  HKisland   │ HKisland01  │       0.0       │         0.0        │        118         ║
+    # ║             │ HKisland02  │       0.1       │         0.0        │         80         ║
+    # ║             │ HKisland03  │      -0.1       │         0.0        │         72         ║
+    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
+    # ║  AMtown     │ AMtown01    │      -0.1       │       0.0285       │         75         ║
+    # ║             │ AMtown02    │      -0.1       │       0.0285       │         50         ║
+    # ║             │ AMtown03    │      -0.1       │       0.0285       │        106         ║
+    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
+    # ║  AMvalley   │ AMvalley01  │      -0.1       │       0.0132       │         70         ║
+    # ║             │ AMvalley02  │      -0.1       │       0.0132       │         65         ║
+    # ║             │ AMvalley03  │      -0.1       │       0.0132       │         68         ║
+    # ╚═══════════════════════════════════════════════════════════════════════════════════════╝
+    preprocess:
+      point_filter_num: 1
+      filter_size_surf: 0.1
+      lidar_type: 1 # Livox Avia LiDAR
+      scan_line: 6
+      blind: 0.8
+
+    vio:
+      max_iterations: 5
+      outlier_threshold: 1000 # 78 100 156 #100 200 500 700 infinite
+      img_point_cov: 1000 # 100 1000 
+      patch_size: 8
+      patch_pyrimid_level: 4
+      normal_en: true
+      raycast_en: false
+      inverse_composition_en: false
+      exposure_estimate_en: true
+      inv_expo_cov: 0.1
+
+    imu:
+      imu_en: true
+      imu_int_frame: 30
+      acc_cov: 2.0 # 0.5
+      gyr_cov: 0.1 # 0.3
+      b_acc_cov: 0.0001 # 0.1
+      b_gyr_cov: 0.0001 # 0.1
+
+    lio:
+      max_iterations: 5
+      dept_err: 0.02
+      beam_err: 0.05
+      min_eigen_value: 0.005
+      voxel_size: 2.0 # 1.0
+      max_layer: 2
+      max_points_num: 50
+      layer_init_num: [5, 5, 5, 5, 5]
+
+    local_map:  
+      map_sliding_en: false
+      half_map_size: 100
+      sliding_thresh: 8.0
+
+    uav:
+      imu_rate_odom: false
+      gravity_align_en: false
+
+    publish:
+      dense_map_en: true
+      pub_effect_point_en: false 
+      pub_plane_en: false
+      pub_scan_num: 1
+      blind_rgb_points: 0.0
+
+    evo:
+      seq_name: "HKisland03"
+      pose_output_en: false
+
+    pcd_save:
+      pcd_save_en: false
+      type: 0 # 0: World Frame, 1: Body Frame;
+      colmap_output_en: false # need to set interval = -1
+      filter_size_pcd: 0.15
+      interval: -1
+      # how many LiDAR frames saved in each pcd file;
+      # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
+
+    image_save:
+      img_save_en: false
+      interval: 1