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Add Mid-360 configuration and launch file #4

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6 changes: 6 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -216,6 +216,12 @@ roslaunch gslivm livo_botanic_garden.launch
roslaunch gslivm livo_botanic_garden_livox.launch
```

### 5). Run with Livox Mid-360

```bash
roslaunch gslivm livo_mid360.launch
```

## 5.Visualization
Please refer to [Gaussian-Splatting-Cuda](https://github.com/MrNeRF/gaussian-splatting-cuda) to build SIBR_viewer to visualize the 3D gaussian model. Certainly it can be built in the same conda environment. I have installed the dependencies (cos7) in *conda_pkgs.txt*.

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39 changes: 39 additions & 0 deletions config/mid360.yaml
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common:
lidar_topic: "/livox/lidar"
imu_topic: "/livox/imu"
image_topic: "/camera/color/image_raw"
image_type: RGB8 # 1 RGB8 2 COMPRESSED
gravity_acc: [ 0.0, 0.0, 9.81 ]

lidar_parameter:
lidar_type: 1 # 1 for Livox serials LiDAR
N_SCANS: 6
SCAN_RATE: 10 # unit: Hz
time_unit: 3 # 0-second, 1-ms, 2-us, 3-ns

imu_parameter:
acc_cov: 0.1
gyr_cov: 0.1
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
time_diff_enable: false

camera_parameter:
image_width: 1280
image_height: 800
image_resize_ratio: 0.5
camera_intrinsic: [ 1000.0, 0.0, 640.0,
0.0, 1000.0, 400.0,
0.0, 0.0, 1.0 ]
camera_dist_coeffs: [ 0.0, 0.0, 0.0, 0.0, 0.0 ] #k1, k2, p1, p2, k3

extrinsic_parameter:
extrinsic_enable: false
extrinsic_t_imu_lidar: [ 0.0, 0.0, 0.0 ]
extrinsic_R_imu_lidar: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ]
extrinsic_t_imu_camera: [ 0.0, 0.0, 0.0 ]
extrinsic_R_imu_camera: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ]
10 changes: 10 additions & 0 deletions launch/livo_mid360.launch
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<launch>
<rosparam command="load" file="$(find gslivm)/config/mid360.yaml" />
<rosparam command="load" file="$(find gslivm)/config/basic_common.yaml" />

<param name="USE_LIVOX" type="bool" value="true"/>
<param name="debug_output" type="bool" value="0"/>
<param name="output_path" type="string" value="$(find gslivm)/output"/>

<node pkg="gslivm" type="livo_node" name="livo_node" output="screen" />
</launch>