test ver
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jingyang-huang
@@ -6,7 +6,7 @@ register_keys:
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# 0: use odin internal system time as data time stamp, typical and recommended;
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# 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users
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# 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis
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use_host_ros_time: 2
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use_host_ros_time: 0 # Changed to 0 to use device timestamp without PTP offset correction
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streamctrl: 1 # 0: off; 1: on
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@@ -25,6 +25,14 @@ register_keys:
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# IMU data
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sendimu: 1 # 0: off; 1: on
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# SDK IMU smooth sending feature
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# When enabled, SDK will send IMU data at precise intervals (default 400Hz)
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# using a dedicated high-priority thread to reduce jitter and timing variance
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enable_imu_smooth: 0 # 0: disable SDK IMU smooth sending; 1: enable (default)
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# SDK IMU smooth sending frequency in Hz (only effective when enable_imu_smooth = 1)
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imu_smooth_frequency: 400 # 1-1000 Hz, recommended 400 Hz
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# Odometry data
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sendodom: 1 # 0: off; 1: on
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@@ -57,6 +65,14 @@ register_keys:
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# Processed on host device
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sendreprojection: 0 # 0: off; 1: on
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# image overlay settings - overlays reprojected points on camera image
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# Processed on host device
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sendoverlay: 0 # 0: off; 1: on
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overlay_reprojected_topic: "/odin1/reprojected_image" # reprojected image topic
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overlay_camera_topic: "/odin1/image" # camera image topic (undistorted)
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overlay_output_topic: "/odin1/overlay_image" # output overlay image topic
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overlay_alpha: 0.6 # blend alpha (0.0-1.0, higher = more reproj color)
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# record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software.
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# save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/
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# ATTENTION: please copy the full folder for post-processing.
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@@ -80,3 +96,10 @@ register_keys:
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# To get the mapping result file, please use the set_param.sh script provided: "./set_param.sh save_map 1"
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mapping_result_dest_dir: "" # "": if not specified, save to default location of {ws}/src/odin_ros_driver/map/{driver_start_time}/
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mapping_result_file_name: "" # "": if not specified, save to location above with default file name of map_{map_save_time}.bin
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# Image mask transfer settings
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sendimagemask: 0 # 0: off; 1: on - transfer image mask to device on startup
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image_mask_abs_path: "" # absolute path to the image mask file (e.g., /path/to/mask.png(1600x1296))
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# Algorithm reset settings
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resetalgo: 0 # 0: off; 1: on - send algo_reset command to device on startup
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@@ -385,7 +385,7 @@ Visualization Manager:
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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Enabled: true
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Enabled: false
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Name: dense_depth_demo
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- Class: rviz_default_plugins/TF
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Enabled: true
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@@ -460,9 +460,9 @@ Visualization Manager:
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0.28456413745880127
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Y: 1.8771981000900269
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Z: 0.38664406538009644
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X: 0.2568470537662506
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Y: 2.1451337337493896
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Z: 0.3774382472038269
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Focal Shape Fixed Size: false
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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@@ -483,16 +483,16 @@ Window Geometry:
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collapsed: false
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Image_undistort:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001d40000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000028e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d10000010a0000002800fffffffb0000002200640065006e00730065005f00640065007000740068005f0069006d0061006700650300000293000000dd000002d400000205fb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044b0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd0000000400000000000001d40000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000028e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d10000010a0000002800fffffffb0000002200640065006e00730065005f00640065007000740068005f0069006d006100670065000000023e0000007a0000002800fffffffb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004910000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1850
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X: 70
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Y: 27
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Width: 1920
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X: 540
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Y: 124
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cloudslam_reprojected:
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collapsed: false
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dense_depth_image:
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