94 lines
2.3 KiB
YAML
Executable File
94 lines
2.3 KiB
YAML
Executable File
/**:
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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,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0]
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Rcl: [0.00610193,-0.999863,-0.0154172,
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-0.00615449,0.0153796,-0.999863,
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0.999962,0.00619598,-0.0060598]
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Pcl: [0.0194384, 0.104689,-0.0251952]
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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: 0.0
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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: 100 # 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: 0.5 # 0.2
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gyr_cov: 0.3 # 0.5
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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: 0.0025 # 0.005
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voxel_size: 0.5
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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: "CBD_Building_01"
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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 |