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modify config file
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@kevin2431
kevin2431 committed Jul 12, 2024
1 parent 8b4fa4b commit ba273d3
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Showing 7 changed files with 95 additions and 14 deletions.
19 changes: 18 additions & 1 deletion data/config_hesai.yaml
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Original file line number Diff line number Diff line change
@@ -1,10 +1,23 @@
# the config file for Hesai LiDAR
# support Dataset: Hilti 2022, 2023. For a better performance, you need finetune the folloing parameters.
# support Dataset: Hilti 2022, 2023. For a better performance, you need to finetune the following parameters.
# Traj-LO is a lidar-only method, so it may fail in the narrow space when there is few valid point to get geometric constrain.
dataset:
data_type: "bag_hesai"
topic: "/hesai/pandar"
path: "/home/zx/Data/Disk2/hilti2022/exp01_construction_ground_level.bag"
save_pose: true
pose_file_path: "estimated_pose.txt"

calibration:
time_offset: 0.0
T_body_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]
T_body_gt: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]

trajectory:
init_interval: 3e8
Expand All @@ -26,6 +39,10 @@ mapping:
vis:
frame_num: 1
point_num: 5
T_vis_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]



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20 changes: 18 additions & 2 deletions data/config_livox.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,20 @@
dataset:
data_type: "bag_livox"
topic: "/livox/lidar"
path: "/Volumes/Extreme SSD/pointlio-data/hkust_campus_seq_01.bag"
path: "/home/zx/Data/Disk1/r3live/hkust_campus_seq_01.bag"
save_pose: true
pose_file_path: "estimated_pose.txt"

calibration:
time_offset: 0.0
T_body_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]
T_body_gt: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]

trajectory:
init_interval: 3e8
Expand All @@ -25,4 +38,7 @@ mapping:
vis:
frame_num: 1
point_num: 5

T_vis_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]
14 changes: 7 additions & 7 deletions data/config_ntu.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ dataset:
topic: "/os1_cloud_node1/points"
path: "/home/zx/Data/Disk2/NTU_VIRAL/eee_03/eee_03.bag"
save_pose: true
pose_file_path: "test_tum.txt"
pose_file_path: "estimated_pose.txt"

calibration:
time_offset: 0.1
Expand All @@ -17,13 +17,13 @@ calibration:
0.0, 0.0, 0.0, 1.0 ]

trajectory:
init_interval: 3e8
init_interval: 2e8
seg_interval: 4e7
seg_num: 3
kinematic_constrain: 2.0
kinematic_constrain: 2
init_pose_weight: 1e9
converge_thresh: 0.001
max_iterations: 50
max_iterations: 25

mapping:
ds_size: 0.8
Expand All @@ -36,9 +36,9 @@ mapping:
vis:
frame_num: 1
point_num: 5
T_vis_lidar: [ -1.0, 0.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 1.0, 0.0, 0.0,
T_vis_lidar: [ 0.0, 1.0, 0.0, 0.0,
1.0, 0.0, 0.0, 0.0,
0.0, 0.0, -1.0, 0.0,
0.0, 0.0, 0.0, 1.000 ]


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18 changes: 17 additions & 1 deletion data/config_ouster.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,19 @@ dataset:
data_type: "bag_ouster"
topic: "/os_cloud_node/points"
path: "/home/zx/Data/Disk2/hilti-2021/Campus_2.bag"
save_pose: true
pose_file_path: "estimated_pose.txt"

calibration:
time_offset: 0.0
T_body_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]
T_body_gt: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]

trajectory:
init_interval: 3e8
Expand All @@ -25,7 +38,10 @@ mapping:
vis:
frame_num: 1
point_num: 10

T_vis_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]



18 changes: 17 additions & 1 deletion data/config_pointlio.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,19 @@ dataset:
data_type: "bag_livox"
topic: "/livox/lidar"
path: "/home/zx/Data/Disk1/fast-lio/pendulum.bag"
save_pose: true
pose_file_path: "estimated_pose.txt"

calibration:
time_offset: 0.0
T_body_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]
T_body_gt: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]

trajectory:
init_interval: 0.5e8
Expand All @@ -25,5 +38,8 @@ mapping:
vis:
frame_num: 3
point_num: 5

T_vis_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]

18 changes: 17 additions & 1 deletion data/config_velodyne.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,19 @@ dataset:
data_type: "bag_velodyne"
topic: "/velodyne_points"
path: "/home/zx/Data/Disk2/ICCV2023-LIO-Challenage/SubT_MRS_Final_Challenge_UGV1/subset.bag"
save_pose: true
pose_file_path: "estimated_pose.txt"

calibration:
time_offset: 0.0
T_body_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]
T_body_gt: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]

trajectory:
init_interval: 3e8
Expand All @@ -27,7 +40,10 @@ mapping:
vis:
frame_num: 1
point_num: 5

T_vis_lidar: [ 1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 ]



2 changes: 1 addition & 1 deletion src/core/odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,7 +137,7 @@ void TrajLOdometry::Start() {
frame_poses_[tp.second].getPose()};
UndistortRawPoints(measure->points, visData->data, pp);

visData->T_w = pp.first;
visData->T_w = config_.T_vis_lidar*pp.first;
vis_data_queue->push(visData); // may block the thread
}
}
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