r3live_config.yaml

Lidar_front_end:
   lidar_type: 1   # 1 for Livox-avia, 3 for Ouster-OS1-64
   N_SCANS: 6
   using_raw_point: 1
   point_step: 1
   
r3live_common:
   if_dump_log: 0                   # If recording ESIKF update log. [default = 0]
   record_offline_map: 1            # If recording offline map. [default = 1]
   pub_pt_minimum_views: 3          # Publish points which have been render up to "pub_pt_minimum_views" time. [default = 3]
   minimum_pts_size: 0.01           # The minimum distance for every two points in Global map (unit in meter). [default = 0.01] 
   image_downsample_ratio: 1        # The downsample ratio of the input image. [default = 1]
   estimate_i2c_extrinsic: 1        # If enable estimate the extrinsic between camera and IMU. [default = 1] 
   estimate_intrinsic: 1            # If enable estimate the online intrinsic calibration of the camera lens. [default = 1] 
   maximum_vio_tracked_pts: 600     # The maximum points for tracking. [default = 600]
   append_global_map_point_step: 4  # The point step of append point to global map. [default = 4]

r3live_vio:
   image_width: 1920
   image_height: 1200
   camera_intrinsic:
      [1018.94865,     0.     ,   954.93451,
             0.     ,  1019.6518 ,   635.23511,
             0.     ,     0.     ,     1. ] 
   camera_dist_coeffs: [-0.031853, 0.041301, -0.000646, 0.000422, 0.000000]  #k1, k2, p1, p2, k3
   # Fine extrinsic value. form camera-LiDAR calibration.
   camera_ext_R:
         [0.00734195,-0.0189644, 0.999793,
          -0.999911,-0.0113008,0.00712846,
           0.0111633,-0.999756,-0.0190457 ]
   camera_ext_t: [-0.0352, 0.10468, -0.1803] 
   # camera_ext_t: [0,0,0] 
   # Rough extrinsic value, form CAD model, is not correct enough, but can be online calibrated in our datasets.
   # camera_ext_R:
   #    [0, 0, 1,
   #     -1, 0, 0,
   #     0, -1, 0]
   # camera_ext_t: [0,0,0] 
   
r3live_lio:        
   lio_update_point_step: 4   # Point step used for LIO update.  
   max_iteration: 2           # Maximum times of LIO esikf.
   lidar_time_delay: 0        # The time-offset between LiDAR and IMU, provided by user. 
   filter_size_corner: 0.30   
   filter_size_surf: 0.30
   filter_size_surf_z: 0.30
   filter_size_map: 0.30