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config/nclt.yaml

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+common:
+    lidar_topic:  "/points_raw"
+    imu_topic:  "/imu_raw"
+    point_filter_num: 4
+    sweep_cut_num: 3
+    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+    gravity_acc: [ 0.0, 0.0, 9.80416]
+
+lidar_parameter:
+    lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
+    N_SCANS: 32
+    SCAN_RATE: 10                # only need to be set for velodyne, unit: Hz,
+    time_unit: 2            # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
+    blind: 2
+    fov_degree:    180
+    det_range:     100.0
+
+imu_parameter:
+    acc_cov: 0.1
+    gyr_cov: 0.1
+    b_acc_cov: 0.0001
+    b_gyr_cov: 0.0001
+    time_diff_enable: false
+
+extrinsic_parameter:
+    extrinsic_enable:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
+    extrinsic_t: [ 0.112, 0.176, -0.247]
+    extrinsic_R: [ 1, 0, 0, 
+                   0, 1, 0, 
+                   0, 0, 1]
+
+odometry_options:
+    voxel_size: 0.5 # The voxel size for the grid sampling of the new frame (before keypoints extraction)
+    sample_voxel_size: 1.5 # The size of a voxel for the selection of `keypoints` by grid sampling
+    max_distance: 2000.0 # The threshold of the distance to suppress voxels from the map
+    max_num_points_in_voxel: 20 # The maximum number of points per voxel of the map
+    method_system_init: STATIC_INIT # LIO system initialization [MOTION_INIT, STATIC_INIT]
+    init_num_frames: 20
+    robust_registration: false
+    min_distance_points: 0.15
+    distance_error_threshold: 100.0 # The motion of the sensor between two frames which is considered erroneous (stops the odometry)
+    motion_compensation: CONTINUOUS # The profile of the motion compensation (NONE, CONSTANT_VELOCITY, ITERATIVE, CONTINUOUS)
+    initialization: INIT_IMU # [INIT_CONSTANT_VELOCITY, INIT_IMU]
+
+icp_options:
+    size_voxel_map: 1.0 # The voxel size of in the voxel map
+    num_iters_icp: 15 # The number of iterations of the ICP
+    min_number_neighbors: 20 # The minimum number of neighbor points to define a valid neighborhood
+    voxel_neighborhood: 1
+    max_number_neighbors: 20
+    max_dist_to_plane_ct_icp: 0.3
+    threshold_orientation_norm: 0.1 # Threshold on orientation changes (in degrees) for early termination of the ICP
+    threshold_translation_norm: 0.01 # Threshold on distance changes (in m) for early termination of the ICP
+    debug_print: false
+    point_to_plane_with_distortion: true
+    distance: CT_POINT_TO_PLANE # Options: [CT_POINT_TO_PLANE, POINT_TO_PLANE]
+    num_closest_neighbors: 1
+    beta_location_consistency: 1.0
+    beta_orientation_consistency: 1.0
+    beta_constant_velocity: 1.0 # Trajectory Regularisation Weight to constrain the optimization
+    beta_small_velocity: 0.00
+    solver: LIO # The type of SOLVER used in [LIO, LIDAR]
+    min_num_residuals: 200 # The minimum number of residuals for a valid ICP problem
+    max_num_residuals: 600 # The maximum number of residuals considered (if more keypoints exist, residuals are randomly sampled)
+
+    loss_function: HUBER # Options: [CAUCHY, STANDARD, HUBER, TOLERANT, TRUNCATED]
+    ls_max_num_iters: 5 # The number of steps performed by ceres for each iteration of the ICP
+    ls_num_threads: 16 # The number of threads to build and solve the least square system
+    ls_sigma: 0.5
+    ls_tolerant_min_threshold: 0.05

config/ulhk_1.yaml

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+common:
+    lidar_topic:  "/velodyne_points_0"
+    imu_topic:  "/imu/data"
+    point_filter_num: 4
+    sweep_cut_num: 3
+    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+    gravity_acc: [ 0.0, 0.0, 0.0]
+
+lidar_parameter:
+    lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
+    N_SCANS: 32
+    SCAN_RATE: 10                # only need to be set for velodyne, unit: Hz,
+    time_unit: 0            # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
+    blind: 2
+    fov_degree:    180
+    det_range:     100.0
+
+imu_parameter:
+    acc_cov: 0.1
+    gyr_cov: 0.1
+    b_acc_cov: 0.0001
+    b_gyr_cov: 0.0001
+    time_diff_enable: false
+
+extrinsic_parameter:
+    extrinsic_enable:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
+    extrinsic_t: [ 0.0, 0.0, 0.28]
+    extrinsic_R: [ 0, 1, 0, 
+                   -1, 0, 0, 
+                   0, 0, 1]
+
+odometry_options:
+    voxel_size: 0.5 # The voxel size for the grid sampling of the new frame (before keypoints extraction)
+    sample_voxel_size: 1.5 # The size of a voxel for the selection of `keypoints` by grid sampling
+    max_distance: 2000.0 # The threshold of the distance to suppress voxels from the map
+    max_num_points_in_voxel: 20 # The maximum number of points per voxel of the map
+    method_system_init: STATIC_INIT # LIO system initialization [MOTION_INIT, STATIC_INIT]
+    init_num_frames: 20
+    robust_registration: false
+    min_distance_points: 0.15
+    distance_error_threshold: 100.0 # The motion of the sensor between two frames which is considered erroneous (stops the odometry)
+    motion_compensation: CONTINUOUS # The profile of the motion compensation (NONE, CONSTANT_VELOCITY, ITERATIVE, CONTINUOUS)
+    initialization: INIT_IMU # [INIT_CONSTANT_VELOCITY, INIT_IMU]
+
+icp_options:
+    size_voxel_map: 1.0 # The voxel size of in the voxel map
+    num_iters_icp: 15 # The number of iterations of the ICP
+    min_number_neighbors: 20 # The minimum number of neighbor points to define a valid neighborhood
+    voxel_neighborhood: 1
+    max_number_neighbors: 20
+    max_dist_to_plane_ct_icp: 0.3
+    threshold_orientation_norm: 0.1 # Threshold on orientation changes (in degrees) for early termination of the ICP
+    threshold_translation_norm: 0.01 # Threshold on distance changes (in m) for early termination of the ICP
+    debug_print: false
+    point_to_plane_with_distortion: true
+    distance: CT_POINT_TO_PLANE # Options: [CT_POINT_TO_PLANE, POINT_TO_PLANE]
+    num_closest_neighbors: 1
+    beta_location_consistency: 1.0
+    beta_orientation_consistency: 1.0
+    beta_constant_velocity: 1.0 # Trajectory Regularisation Weight to constrain the optimization
+    beta_small_velocity: 0.00
+    solver: LIO # The type of SOLVER used in [LIO, LIDAR]
+    min_num_residuals: 200 # The minimum number of residuals for a valid ICP problem
+    max_num_residuals: 600 # The maximum number of residuals considered (if more keypoints exist, residuals are randomly sampled)
+
+    loss_function: HUBER # Options: [CAUCHY, STANDARD, HUBER, TOLERANT, TRUNCATED]
+    ls_max_num_iters: 5 # The number of steps performed by ceres for each iteration of the ICP
+    ls_num_threads: 16 # The number of threads to build and solve the least square system
+    ls_sigma: 0.5
+    ls_tolerant_min_threshold: 0.05

config/ulhk_2.yaml

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+common:
+    lidar_topic:  "/velodyne_points"
+    imu_topic:  "/imu/data"
+    point_filter_num: 4
+    sweep_cut_num: 3
+    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+    gravity_acc: [ 0.0, 0.0, 9.8]
+
+lidar_parameter:
+    lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
+    N_SCANS: 32
+    SCAN_RATE: 10                # only need to be set for velodyne, unit: Hz,
+    time_unit: 0            # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
+    blind: 2
+    fov_degree:    180
+    det_range:     100.0
+
+imu_parameter:
+    acc_cov: 0.1
+    gyr_cov: 0.1
+    b_acc_cov: 0.0001
+    b_gyr_cov: 0.0001
+    time_diff_enable: false
+
+extrinsic_parameter:
+    extrinsic_enable:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
+    extrinsic_t: [ 0.0, 0.0, 0.28]
+    extrinsic_R: [ 0, 1, 0, 
+                   -1, 0, 0, 
+                   0, 0, 1]
+
+odometry_options:
+    voxel_size: 0.5 # The voxel size for the grid sampling of the new frame (before keypoints extraction)
+    sample_voxel_size: 1.5 # The size of a voxel for the selection of `keypoints` by grid sampling
+    max_distance: 2000.0 # The threshold of the distance to suppress voxels from the map
+    max_num_points_in_voxel: 20 # The maximum number of points per voxel of the map
+    method_system_init: STATIC_INIT # LIO system initialization [MOTION_INIT, STATIC_INIT]
+    init_num_frames: 20
+    robust_registration: false
+    min_distance_points: 0.15
+    distance_error_threshold: 100.0 # The motion of the sensor between two frames which is considered erroneous (stops the odometry)
+    motion_compensation: CONTINUOUS # The profile of the motion compensation (NONE, CONSTANT_VELOCITY, ITERATIVE, CONTINUOUS)
+    initialization: INIT_IMU # [INIT_CONSTANT_VELOCITY, INIT_IMU]
+
+icp_options:
+    size_voxel_map: 1.0 # The voxel size of in the voxel map
+    num_iters_icp: 15 # The number of iterations of the ICP
+    min_number_neighbors: 20 # The minimum number of neighbor points to define a valid neighborhood
+    voxel_neighborhood: 1
+    max_number_neighbors: 20
+    max_dist_to_plane_ct_icp: 0.3
+    threshold_orientation_norm: 0.1 # Threshold on orientation changes (in degrees) for early termination of the ICP
+    threshold_translation_norm: 0.01 # Threshold on distance changes (in m) for early termination of the ICP
+    debug_print: false
+    point_to_plane_with_distortion: true
+    distance: CT_POINT_TO_PLANE # Options: [CT_POINT_TO_PLANE, POINT_TO_PLANE]
+    num_closest_neighbors: 1
+    beta_location_consistency: 1.0
+    beta_orientation_consistency: 1.0
+    beta_constant_velocity: 1.0 # Trajectory Regularisation Weight to constrain the optimization
+    beta_small_velocity: 0.00
+    solver: LIO # The type of SOLVER used in [LIO, LIDAR]
+    min_num_residuals: 200 # The minimum number of residuals for a valid ICP problem
+    max_num_residuals: 600 # The maximum number of residuals considered (if more keypoints exist, residuals are randomly sampled)
+
+    loss_function: HUBER # Options: [CAUCHY, STANDARD, HUBER, TOLERANT, TRUNCATED]
+    ls_max_num_iters: 5 # The number of steps performed by ceres for each iteration of the ICP
+    ls_num_threads: 16 # The number of threads to build and solve the least square system
+    ls_sigma: 0.5
+    ls_tolerant_min_threshold: 0.05

config/utbm.yaml

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+common:
+    lidar_topic:  "/velodyne_points"
+    imu_topic:  "/imu/data"
+    point_filter_num: 4
+    sweep_cut_num: 3
+    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+    gravity_acc: [ 0.0, 0.0, 9.79744]
+
+lidar_parameter:
+    lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
+    N_SCANS: 32
+    SCAN_RATE: 10                # only need to be set for velodyne, unit: Hz,
+    time_unit: 0            # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
+    blind: 2
+    fov_degree:    180
+    det_range:     100.0
+
+imu_parameter:
+    acc_cov: 0.1
+    gyr_cov: 0.1
+    b_acc_cov: 0.0001
+    b_gyr_cov: 0.0001
+    time_diff_enable: false
+
+extrinsic_parameter:
+    extrinsic_enable:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
+    extrinsic_t: [ -0.5, 1.4, 1.5]
+    extrinsic_R: [ 1, 0, 0, 
+                   0, 1, 0, 
+                   0, 0, 1]
+
+odometry_options:
+    voxel_size: 0.5 # The voxel size for the grid sampling of the new frame (before keypoints extraction)
+    sample_voxel_size: 1.5 # The size of a voxel for the selection of `keypoints` by grid sampling
+    max_distance: 2000.0 # The threshold of the distance to suppress voxels from the map
+    max_num_points_in_voxel: 20 # The maximum number of points per voxel of the map
+    method_system_init: STATIC_INIT # LIO system initialization [MOTION_INIT, STATIC_INIT]
+    init_num_frames: 20
+    robust_registration: false
+    min_distance_points: 0.15
+    distance_error_threshold: 100.0 # The motion of the sensor between two frames which is considered erroneous (stops the odometry)
+    motion_compensation: CONTINUOUS # The profile of the motion compensation (NONE, CONSTANT_VELOCITY, ITERATIVE, CONTINUOUS)
+    initialization: INIT_IMU # [INIT_CONSTANT_VELOCITY, INIT_IMU]
+
+icp_options:
+    size_voxel_map: 1.0 # The voxel size of in the voxel map
+    num_iters_icp: 15 # The number of iterations of the ICP
+    min_number_neighbors: 20 # The minimum number of neighbor points to define a valid neighborhood
+    voxel_neighborhood: 1
+    max_number_neighbors: 20
+    max_dist_to_plane_ct_icp: 0.3
+    threshold_orientation_norm: 0.1 # Threshold on orientation changes (in degrees) for early termination of the ICP
+    threshold_translation_norm: 0.01 # Threshold on distance changes (in m) for early termination of the ICP
+    debug_print: false
+    point_to_plane_with_distortion: true
+    distance: CT_POINT_TO_PLANE # Options: [CT_POINT_TO_PLANE, POINT_TO_PLANE]
+    num_closest_neighbors: 1
+    beta_location_consistency: 1.0
+    beta_orientation_consistency: 1.0
+    beta_constant_velocity: 1.0 # Trajectory Regularisation Weight to constrain the optimization
+    beta_small_velocity: 0.00
+    solver: LIO # The type of SOLVER used in [LIO, LIDAR]
+    min_num_residuals: 200 # The minimum number of residuals for a valid ICP problem
+    max_num_residuals: 600 # The maximum number of residuals considered (if more keypoints exist, residuals are randomly sampled)
+
+    loss_function: HUBER # Options: [CAUCHY, STANDARD, HUBER, TOLERANT, TRUNCATED]
+    ls_max_num_iters: 5 # The number of steps performed by ceres for each iteration of the ICP
+    ls_num_threads: 16 # The number of threads to build and solve the least square system
+    ls_sigma: 0.5
+    ls_tolerant_min_threshold: 0.05