Livox config explanation

hku-mars / LiDAR_IMU_Init

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.

GNU General Public License v2.0

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Livox config explanation #21

Closed ManChrys closed 2 years ago

ManChrys commented 2 years ago

Hello guys,

I would like to ask if there is an explanation about all parameters, which are included in avia.yaml. I have a livox mid 40 and I would like to convert the avia.yaml file to a mid 40 compatible file .

Thanks in advance.

zfc-zfc commented 2 years ago

Hello guys,

I would like to ask if there is an explanation about all parameters, which are included in avia.yaml. I have a livox mid 40 and I would like to convert the avia.yaml file to a mid 40 compatible file .

Thanks in advance.

Please read README.md carefully. Thanks.

ManChrys commented 2 years ago

Thanks for the fast response .

i saw the "important parameters" paragraph but i didnt see anything about

1st question : how can i find these params for mid 40 ?

feature_extract_en: false
scan_line: 6
blind: 2

and

2nd question : these are my imu parameters from manual ? I have xsens mti-g-710 gnss

gyr_cov: 50
acc_cov: 2
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
det_range: 450.0

also

3rd question : rotation and translation are between lidar and imu ?

Rot_LI_cov: [ 0.00005, 0.00005, 0.00005 ]
Trans_LI_cov: [ 0.00001, 0.00001, 0.00001 ]

zfc-zfc commented 2 years ago

Thanks for the fast response .

i saw the "important parameters" paragraph but i didnt see anything about

1st question : how can i find these params for mid 40 ?
feature_extract_en: false
scan_line: 6
blind: 2
and

2nd question : these are my imu parameters from manual ? I have xsens mti-g-710 gnss
gyr_cov: 50
acc_cov: 2
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
det_range: 450.0
also

3rd question : rotation and translation are between lidar and imu ?
Rot_LI_cov: [ 0.00005, 0.00005, 0.00005 ]
Trans_LI_cov: [ 0.00001, 0.00001, 0.00001 ]
For the first question: I suggest the parameters in the 2nd and 3rd question remain unchanged. gyr_cov, acc_cov, b_acc_cov, b_gyr_cov, Rot_LI_cov, Trans_LI_cov are propagation noise of angular velocity, linear acceleration, gyroscope bias and accelerometer bias, extrinsic rotation, extrinsic translation.

ManChrys commented 2 years ago

Thanks a lot my friend!!! Have a nice day!!

hr2894235132 commented 1 year ago

Thanks for the fast response .

i saw the "important parameters" paragraph but i didnt see anything about

1st question : how can i find these params for mid 40 ?
feature_extract_en: false
scan_line: 6
blind: 2
and

2nd question : these are my imu parameters from manual ? I have xsens mti-g-710 gnss
gyr_cov: 50
acc_cov: 2
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
det_range: 450.0
also

3rd question : rotation and translation are between lidar and imu ?
Rot_LI_cov: [ 0.00005, 0.00005, 0.00005 ]
Trans_LI_cov: [ 0.00001, 0.00001, 0.00001 ]

hey，what about the first question? Can you teach me?