mt-lifan
4dcf0e0a97
2.update sdk for ntp functions
3.add set camera FPS function in yaml(10FPS,14.5FPS)
4.release ros driver 0.9.0
5.Add time alignment mode for odin1 device synchronization with host
6.Add new time alignment option (use_host_ros_time=2) to align odin1 sensor timestamps to host time axis using PTP sync data
7.Implement PTP smoothing with 30-sample moving average window for delay and offset calculations
8.Refactor timestamp handling with make_aligned_stamp() helper function to centralize time conversion logic across all data types (IMU, point clouds, images, odometry)
9.Add LIDAR_DT_NTP data type for receiving
10.add imu data record
11.add cloud reprojection demo
83 lines
3.6 KiB
YAML
83 lines
3.6 KiB
YAML
register_keys:
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# if off, allow connection even if usb connection is below usb 3.0
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# ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer
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strict_usb3.0_check: 0 # 0: off: 1: on;
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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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streamctrl: 1 # 0: off; 1: on
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# original rgb data in jpeg format from device
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sendrgbcompressed: 1 # 0: off; 1: on
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# RGB data, decoded from original jpeg data from device, bgr8 format
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# Processed on host device
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sendrgb: 1 # 0: off; 1: on
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# undistort rgb image processed from decoded rgb data.
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# depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml
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# Processed on host device
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sendrgbundistort: 0 # 0: off; 1: on.
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# IMU data
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sendimu: 1 # 0: off; 1: on
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# Odometry data
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sendodom: 1 # 0: off; 1: on
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# TF from odom to base_link. Leave it on unless you specifically need it off.
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# ATTENTION: critical for rviz to show cloud_raw.
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send_odom_baselink_tf: 1 # 0: off; 1: on.
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# raw dtof data
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senddtof: 1 # 0: off; 1: on
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cloud_raw_confidence_threshold: 35 # please refer to readme for more details
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# dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps)
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# Higher frame rate provides smoother point cloud data but may increase data bandwidth
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# Note: value is multiplied by 10 (e.g., 145 means 14.5fps)
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dtof_fps: 100 # 100: 10fps; 145: 14.5fps
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# slam cloud data
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sendcloudslam: 1 # 0: off; 1: on
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# processed with raw point cloud, rgb image, and calib.yaml from device
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# Processed on host device
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sendcloudrender: 1 # 0: off; 1: on
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# depth completion demo, high computing resource usage.
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# for more information please refer to the readme file.
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# Processed on host device
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senddepth: 0 # 0: off; 1: on
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# cloud reprojection demo, projects cloud_slam to camera image using odometry
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# Processed on host device
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sendreprojection: 1 # 0: off; 1: on
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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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recorddata: 1 # 0: off; 1: on
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# Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv
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devstatuslog: 1 # 0: off; 1: on.
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save_log: 0 # 0: off; 1: on;
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# raw dtof sensor intensity data in gray format, mostly for debug purpose.
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pubintensitygray: 0 # 0: off; 1: on
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showpath: 0 # 0: off; 1: on
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showcamerapose: 0 # 0: off; 1: on
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custom_map_mode: 0 # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
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custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
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relocalization_map_abs_path: "" # must be set for Relocalization mode or will fail
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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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