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r3live_config.yaml
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Lidar_front_end:
lidar_type: 3 # 1 for Livox-avia, 3 for Ouster-OS1-64
N_SCANS: 32
using_raw_point: 1
point_step: 1
r3live_common:
if_dump_log: 0 # If recording ESIKF update log. [default = 0]
record_offline_map: 1 # If recording offline map. [default = 1]
pub_pt_minimum_views: 3 # Publish points which have been render up to "pub_pt_minimum_views" time. [default = 3]
minimum_pts_size: 0.01 # The minimum distance for every two points in Global map (unit in meter). [default = 0.01]
image_downsample_ratio: 1 # The downsample ratio of the input image. [default = 1]
estimate_i2c_extrinsic: 1 # If enable estimate the extrinsic between camera and IMU. [default = 1]
estimate_intrinsic: 1 # If enable estimate the online intrinsic calibration of the camera lens. [default = 1]
maximum_vio_tracked_pts: 600 # The maximum points for tracking. [default = 600]
append_global_map_point_step: 4 # The point step of append point to global map. [default = 4]
r3live_vio:
image_width: 1280
image_height: 720
camera_intrinsic:
[ 649.77363, 0. , 641.24671,
0. , 649.90009, 361.93684,
0. , 0. , 1. ]
camera_dist_coeffs: [-0.036653, 0.032776, -0.000298, -0.001003, 0.000000] #k1, k2, p1, p2, k3
# Fine extrinsic value. form camera-LiDAR calibration.
# camera_ext_R:
# [-0.0458, 0.0076, 0.9989,
# -0.9989, 0.0071, -0.0459,
# -0.0075, -0.9999, 0.0073]
camera_ext_R: [1, 0, 0,
0, 1, 0,
0, 0, 1]
# camera_ext_t: [0.050166, 0.0474116, -0.0312415]
camera_ext_t: [0.0358, -0.0111, -0.0353]
# Rough extrinsic value, form CAD model, is not correct enough, but can be online calibrated in our datasets.
# camera_ext_R:
# [0, 0, 1,
# -1, 0, 0,
# 0, -1, 0]
# camera_ext_t: [0,0,0]
r3live_lio:
lio_update_point_step: 4 # Point step used for LIO update.
max_iteration: 2 # Maximum times of LIO esikf.
lidar_time_delay: 0 # The time-offset between LiDAR and IMU, provided by user.
filter_size_corner: 0.30
filter_size_surf: 0.30
filter_size_surf_z: 0.30
filter_size_map: 0.30
# Not Inverted
# [0.14112585, -0.98904959, 0.04317867,
# -0.22435443, -0.0744323, -0.97166091,
# 0.96423471, 0.12743915, -0.23240198]
# Inverted
# [0.14112585510567139049, -0.2243544312253023306, 0.96423471750535549509,
# -0.98904959478981322859, -0.07443229971095746724, 0.12743914661776377653,
# 0.043178669577001220183, -0.97166090812760718612, -0.23240197984801347293]
# Inverted & Transposed (failed)
# [0.14112585510567139049, -0.98904959478981322859, 0.043178669577001220183,
# -0.2243544312253023306, -0.07443229971095746724, 0.12743914661776377653,
# 0.96423471750535549509, -0.97166090812760718612, -0.23240197984801347293]
# Transposed
# [0.14112585, -0.22435443, 0.96423471,
# -0.98904959, -0.0744323, 0.12743915,
# 0.04317867, -0.97166091, -0.23240198]
# Transposed & Inverse
# [0.14112585510567139038, -0.98904959478981322861, 0.043178669577001220113,
# -0.2243544312253023306, -0.07443229971095746726, -0.97166090812760718612,
# 0.96423471750535549509, 0.12743914661776377653, -0.23240197984801347293]