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fast_lio2 released!

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xw
2021-07-04 10:17:41 -04:00
parent 6e1fa94351
commit 1087a72497
44 changed files with 7155 additions and 2973 deletions
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20
config/avia.yaml Normal file
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common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
preprocess:
lidar_type: 1 # Livox Avia LiDAR
scan_line: 6
blind: 1
mapping:
acc_cov: 0.1
gyr_cov: 0.1
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 90
det_range: 450.0
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]

20
config/horizon.yaml Normal file
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common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
preprocess:
lidar_type: 1 # Livox Avia LiDAR
scan_line: 6
blind: 1
mapping:
acc_cov: 0.1
gyr_cov: 0.1
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 100
det_range: 260.0
extrinsic_T: [ 0.05512, 0.02226, -0.0297 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]

20
config/ouster64.yaml Normal file
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common:
lid_topic: "/os_cloud_node/points"
imu_topic: "/os_cloud_node/imu"
preprocess:
lidar_type: 3 # Ouster2-64 LiDAR
scan_line: 64
blind: 1
mapping:
acc_cov: 0.1
gyr_cov: 0.1
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 180
det_range: 150.0
extrinsic_T: [ 0.0, 0.0, 0.0 ]
extrinsic_R: [1, 0, 0,
0, 1, 0,
0, 0, 1]

20
config/velody16.yaml Normal file
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common:
lid_topic: "/velodyne_points"
imu_topic: "/imu/data"
preprocess:
lidar_type: 2 # VLP-16 LiDAR
scan_line: 32
blind: 4
mapping:
acc_cov: 0.1
gyr_cov: 0.1
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
fov_degree: 180
det_range: 100.0
extrinsic_T: [ 0, 0, 0.28] #ULHK #[ -0.5, 1.4, 1.5 ] #utbm
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]