101 lines
2.3 KiB
YAML
101 lines
2.3 KiB
YAML
common:
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img_topic: "/alphasense/cam0/image_raw"
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lid_topic: "/hesai/pandar"
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imu_topic: "/alphasense/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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# Hilti-2022
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extrinsic_T: [-0.001, -0.00855, 0.055]
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extrinsic_R: [0, -1, 0, -1, 0, 0, 0, 0, -1]
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# Hilti-2023
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# extrinsic_T: [-0.006730146149038548, -0.006897049862999071, 0.049898628062256645]
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# extrinsic_R: [0.006609639848469365, -0.9999773650294649, 0.0012578115132016717,
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# -0.9999762249571927, -0.006612093869054189, -0.0019569708811106104,
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# 0.001965243352927244, -0.0012448467359610184, -0.9999972940839232]
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# Hilti
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Rcl: [ -0.999926, -0.00670802, 0.0101073,
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-0.0100912, -0.00242564, -0.999946,
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0.00673218,-0.999975, 0.00235777 ]
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Pcl: [ -0.0549762, 0.0675401, -0.0520599 ]
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time_offset:
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imu_time_offset: 0.0
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img_time_offset: 0.0
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exposure_time_init: 0.0
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preprocess:
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hilti_en: true
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point_filter_num: 1
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filter_size_surf: 0.1 # 0.2
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lidar_type: 5 # HesaiXT32
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scan_line: 32
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blind: 0.6 # 0.1 0.3
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vio:
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max_iterations: 5
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outlier_threshold: 500
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img_point_cov: 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: 0.5 # 0.1
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gyr_cov: 0.01
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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: 0.0001 # 0.0025
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voxel_size: 0.4
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max_layer: 2
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max_points_num: 100
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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
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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: "exp09_cupola"
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pose_output_en: true
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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
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