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]
+      Rcl: [0.00610193,-0.999863,-0.0154172,
+            -0.00615449,0.0153796,-0.999863,
+            0.999962,0.00619598,-0.0060598] 
+      Pcl: [0.0194384, 0.104689,-0.0251952]
+
+    time_offset: 
+      imu_time_offset: 0.0
+      img_time_offset: 0.1
+      exposure_time_init: 0.0
+
+    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: 100 # 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: 0.5 # 0.2
+      gyr_cov: 0.3 # 0.5
+      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: 0.0025 # 0.005
+      voxel_size: 0.5
+      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: "CBD_Building_01"
+      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