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point-lio with grid map

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Joanna-HE
2024-01-18 08:54:06 -05:00
commit d4919a8c6a
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54
config/avia.yaml Executable file
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common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
con_frame: false # true: if you need to combine several LiDAR frames into one
con_frame_num: 1 # the number of frames combined
cut_frame: false # true: if you need to cut one LiDAR frame into several subframes
cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency
time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)
preprocess:
lidar_type: 1 # 4
scan_line: 6 # 32
timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 0.50
mapping:
imu_en: true
extrinsic_est_en: false # for aggressive motion, set this variable false
imu_time_inte: 0.005 # = 1 / frequency of IMU
lidar_time_inte: 0.1
satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units
satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units
acc_norm: 1.0 # 9.810 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
lidar_meas_cov: 0.01 # 0.001; 0.01
acc_cov_output: 500
gyr_cov_output: 1000
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
imu_meas_acc_cov: 0.1 #0.1 # 0.1
imu_meas_omg_cov: 0.1 #0.01 # 0.1
gyr_cov_input: 0.01 # for IMU as input model
acc_cov_input: 0.1 # for IMU as input model
plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # [0.0, 0.0, -9.787561] # gvins #
gravity_init: [0.0, 0.0, -9.810] # preknown gravity for unstationary start
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ]
odometry:
publish_odometry_without_downsample: false
publish:
path_en: true # false: close the path output
scan_publish_en: true # false: close all the point cloud output
scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: false
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.

53
config/horizon.yaml Executable file
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common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
con_frame: false # true: if you need to combine several LiDAR frames into one
con_frame_num: 1 # the number of frames combined
cut_frame: false # true: if you need to cut one LiDAR frame into several subframes
cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency
time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)
preprocess:
lidar_type: 1
scan_line: 6
timestamp_unit: 1 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 4.0
mapping:
imu_en: true
extrinsic_est_en: false # for aggressive motion, set this variable false
imu_time_inte: 0.005 # = 1 / frequency of IMU
lidar_time_inte: 0.1
satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units
satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units
acc_norm: 1.0 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
lidar_meas_cov: 0.01 # 0.001
acc_cov_output: 500
gyr_cov_output: 1000
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
imu_meas_acc_cov: 0.01 #0.1 # 2
imu_meas_omg_cov: 0.01 #0.1 # 2
gyr_cov_input: 0.01 # for IMU as input model
acc_cov_input: 0.1 # for IMU as input model
plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # preknown gravity, use when imu_en is false or start from a non-stationary state
extrinsic_T: [ 0.05512, 0.02226, -0.0297 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ]
odometry:
publish_odometry_without_downsample: false
publish:
path_en: true # false: close the path output
scan_publish_en: true # false: close all the point cloud output
scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: false
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.

53
config/ouster64.yaml Executable file
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common:
lid_topic: "/os_cloud_node/points"
imu_topic: "/os_cloud_node/imu"
con_frame: false # true: if you need to combine several LiDAR frames into one
con_frame_num: 1 # the number of frames combined
cut_frame: false # true: if you need to cut one LiDAR frame into several subframes
cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency
time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)
preprocess:
lidar_type: 3 # 2 #velodyne # 1 Livox Avia LiDAR
scan_line: 64 # 32 #velodyne 6 avia
timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 4.0
mapping:
imu_en: true
extrinsic_est_en: false # for aggressive motion, set this variable false
imu_time_inte: 0.01 # = 1 / frequency of IMU
lidar_time_inte: 0.1
satu_acc: 30.0 # the saturation value of IMU's acceleration. not related to the units
satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units
acc_norm: 9.81 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
lidar_meas_cov: 0.01 # 0.001
acc_cov_output: 500
gyr_cov_output: 1000
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
imu_meas_acc_cov: 0.1 #0.1 # 2
imu_meas_omg_cov: 0.1 #0.1 # 2
gyr_cov_input: 0.01 # for IMU as input model
acc_cov_input: 0.1 # for IMU as input model
plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # preknown gravity, use when imu_en is false or start from a non-stationary state
extrinsic_T: [0.0, 0.0, 0.0]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ]
odometry:
publish_odometry_without_downsample: false
publish:
path_en: true # false: close the path output
scan_publish_en: true # false: close all the point cloud output
scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: false
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.

59
config/velody16.yaml Executable file
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common:
lid_topic: "/velodyne_points"
imu_topic: "/imu/data"
con_frame: false # true: if you need to combine several LiDAR frames into one
con_frame_num: 1 # the number of frames combined
cut_frame: false # true: if you need to cut one LiDAR frame into several subframes
cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency
time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)
preprocess:
lidar_type: 2
scan_line: 32
timestamp_unit: 2 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
blind: 2.0
mapping:
imu_en: true
extrinsic_est_en: false # for aggressive motion, set this variable false
imu_time_inte: 0.01 # = 1 / frequency of IMU
lidar_time_inte: 0.1
satu_acc: 30.0 # the saturation value of IMU's acceleration. not related to the units
satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units
acc_norm: 9.81 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
lidar_meas_cov: 0.01 # 0.001
acc_cov_output: 500
gyr_cov_output: 1000
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
imu_meas_acc_cov: 0.1 #0.1 # 2
imu_meas_omg_cov: 0.1 #0.1 # 2
gyr_cov_input: 0.01 # for IMU as input model
acc_cov_input: 0.1 # for IMU as input model
plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # [-0.30, 0.880, -9.76] # liosam [0.0, 9.810, 0.0] # # preknown gravity, use when imu_en is false or start from a non-stationary state
extrinsic_T: [ 0, 0, 0.28] # ulhk # [-0.5, 1.4, 1.5] # utbm
# extrinsic_R: [ 0, 1, 0,
# -1, 0, 0,
# 0, 0, 1 ] # ulhk 5 6
# extrinsic_R: [ 0, -1, 0,
# 1, 0, 0,
# 0, 0, 1 ] # utbm 1, 2
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ] # ulhk 4 utbm 3
odometry:
publish_odometry_without_downsample: false
publish:
path_en: true # false: close the path output
scan_publish_en: true # false: close all the point cloud output
scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame
pcd_save:
pcd_save_en: false
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.