config mid360 d435

config/camera_d435.yaml

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+cam_model: Pinhole
+cam_width: 640
+cam_height: 480
+scale: 1.0
+cam_fx: 376.0
+cam_fy: 376.0
+cam_cx: 376.0
+cam_cy: 240
+cam_d0: 0.0
+cam_d1: 0.0
+cam_d2: 0.0
+cam_d3: 0.0

config/mid360.yaml

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+common:
+  img_topic: "/camera/color/image_raw"
+  lid_topic: "/livox/lidar"
+  imu_topic: "/livox/imu"
+  img_en: 1
+  lidar_en: 1
+  ros_driver_bug_fix: false
+
+extrin_calib:
+  extrinsic_T: [0.011, 0.02329, -0.04412]
+  extrinsic_R: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+  Rcl: [0,-1,0,
+        0,0,-1,
+        1,0,0] 
+  Pcl: [0.11, 0,-0.045]
+
+time_offset: 
+  imu_time_offset: 0.0
+  img_time_offset: 0.1
+  exposure_time_init: 0.0
+
+preprocess:
+  point_filter_num: 1
+  filter_size_surf: 0.1
+  lidar_type: 1 # Livox Mid-360 LiDAR
+  scan_line: 4
+  blind: 0.5
+
+vio:
+  max_iterations: 5
+  outlier_threshold: 1000 # 78 100 156 #100 200 500 700 infinite
+  img_point_cov: 100 # 100 1000 
+  patch_size: 8
+  patch_pyrimid_level: 4
+  normal_en: true
+  raycast_en: false
+  inverse_composition_en: false
+  exposure_estimate_en: true
+  inv_expo_cov: 0.1
+
+imu:
+  imu_en: true
+  imu_int_frame: 30
+  acc_cov: 0.5 # 0.2
+  gyr_cov: 0.3 # 0.5
+  b_acc_cov: 0.0001 # 0.1
+  b_gyr_cov: 0.0001 # 0.1
+
+lio:
+  max_iterations: 5
+  dept_err: 0.02
+  beam_err: 0.05
+  min_eigen_value: 0.0025 # 0.005
+  voxel_size: 0.5
+  max_layer: 2
+  max_points_num: 50
+  layer_init_num: [5, 5, 5, 5, 5]
+
+local_map:  
+  map_sliding_en: false
+  half_map_size: 100
+  sliding_thresh: 8
+
+uav:
+  imu_rate_odom: false
+  gravity_align_en: false
+
+publish:
+  dense_map_en: true
+  pub_effect_point_en: false 
+  pub_plane_en: false
+  pub_scan_num: 1
+  blind_rgb_points: 0.0
+
+evo:
+  seq_name: "CBD_Building_01"
+  pose_output_en: false
+
+pcd_save:
+  pcd_save_en: false
+  colmap_output_en: false # need to set interval = -1
+  filter_size_pcd: 0.15
+  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.

launch/mapping_mid360.launch

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+<launch>
+<!-- Launch file for Livox Mid-360 LiDAR -->
+
+	<arg name="rviz" default="true" />
+
+	<rosparam command="load" file="$(find fast_livo)/config/mid360.yaml" />
+
+	<node pkg="fast_livo" type="fastlivo_mapping" name="laserMapping" output="screen">
+		<rosparam file="$(find fast_livo)/config/camera_d435.yaml" />
+	</node>
+
+	<group if="$(arg rviz)">
+		<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_livo)/rviz_cfg/fast_livo2.rviz" />
+	</group>
+
+	<!-- <node pkg="image_transport" type="republish" name="republish" args="compressed in:=/left_camera/image raw out:=/left_camera/image" output="screen" respawn="true"/> -->
+
+launch-prefix="gdb -ex run --args"
+launch-prefix="valgrind --leak-check=full"
+</launch>