Add slam_in_autonomous_driving repo

workspace/slam_in_autonomous_driving/config/avia.yaml

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+preprocess:
+  lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
+  scan_line: 6
+  time_scale: 1e-3             # 兼容不同数据集的时间单位，仅对Velodyne LiDAR(lidar_type=2)生效
+
+mapping:
+  extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
+  extrinsic_R: [ 1, 0, 0,
+                 0, 1, 0,
+                 0, 0, 1 ]
+
+point_filter_num: 3
+max_iteration: 10
+imu_has_gravity: true
+with_ui: false

workspace/slam_in_autonomous_driving/config/mapping.yaml

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+YAML: 1.0
+bag_path: /home/xiang/Data/nclt/20130110.bag
+lio_yaml: ./config/velodyne_nclt.yaml
+map_data: ./data/ch9/map_data/
+origin:
+  - 276726.5626579862
+  - 4685961.4821172
+  - 272.809
+rtk_has_rot: false
+rtk_outlier_th: 1.0
+rtk_pos_noise: 2.0
+rtk_height_noise_ratio: 10.0
+rtk_ang_noise: 5.0
+lidar_continuous_num: 5
+rtk_ext:
+  t: [0, 0.24, -0.283]
+loop_closing:
+  min_id_interval: 100
+  min_distance: 30
+  skip_id: 5
+  ndt_score_th: 4.5
+common:
+  dataset: nclt
+  lid_topic: points_raw
+  imu_topic: imu_raw
+  time_sync_en: false
+preprocess:
+  lidar_type: 2
+  scan_line: 32
+  time_scale: 1e-3
+mapping:
+  extrinsic_est_en: true
+  extrinsic_T: [0, 0, 0.28]
+  extrinsic_R: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+point_filter_num: 3
+max_iteration: 10
+imu_has_gravity: true

workspace/slam_in_autonomous_driving/config/velodyne.yaml

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+common:
+  dataset: "nclt"
+  lid_topic: "points_raw"
+  imu_topic: "imu_raw"
+  time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+
+preprocess:
+  lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
+  scan_line: 32
+  blind: 4
+  time_scale: 1e-3             # 兼容不同数据集的时间单位，仅对Velodyne LiDAR(lidar_type=2)生效
+
+mapping:
+  acc_cov: 0.1
+  gyr_cov: 0.1
+  b_acc_cov: 0.0001
+  b_gyr_cov: 0.0001
+  fov_degree: 180
+  det_range: 100.0
+  extrinsic_est_en: true      # true: enable the online estimation of IMU-LiDAR extrinsic
+  extrinsic_T: [ 0, 0, 0.28 ]
+  extrinsic_R: [ 1, 0, 0,
+                 0, 1, 0,
+                 0, 0, 1 ]
+
+publish:
+  path_publish_en: false
+  scan_publish_en: true       # false: close all the point cloud output
+  scan_effect_pub_en: true    # true: publish the pointscloud of effect point
+  dense_publish_en: false       # false: low down the points number in a global-frame point clouds scan.
+  scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame
+
+path_save_en: true                 # 保存轨迹，用于精度计算和比较
+
+pcd_save:
+  pcd_save_en: false
+  interval: -1                 # how many LiDAR frames saved in each pcd file;
+  # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too many frames.
+
+IMU:
+  NoiseGyro: 1e-2   # 3 # 2.44e-4 #1e-3 # rad/s^0.5
+  NoiseAcc: 1e-1    #2 # 1.47e-3 #1e-2 # m/s^1.5
+  GyroWalk: 1e-6    # rad/s^1.5
+  AccWalk: 1e-4     # m/s^2.5
+  Frequency: 200.0
+
+point_filter_num: 7
+max_iteration: 4

workspace/slam_in_autonomous_driving/config/velodyne_nclt.yaml

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+preprocess:
+  lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
+  scan_line: 32
+  time_scale: 1e-3             # 兼容不同数据集的时间单位，仅对Velodyne LiDAR(lidar_type=2)生效
+
+mapping:
+  extrinsic_T: [ 0, 0, 0.28 ]
+  extrinsic_R: [ 1, 0, 0,
+                 0, 1, 0,
+                 0, 0, 1 ]
+
+point_filter_num: 10
+max_iteration: 3
+imu_has_gravity: true
+with_ui: false

workspace/slam_in_autonomous_driving/config/velodyne_ulhk.yaml

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+preprocess:
+  lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
+  scan_line: 32
+  time_scale: 1e3             # 兼容不同数据集的时间单位
+
+mapping:
+  extrinsic_T: [ 0, 0, -0.28 ]
+  extrinsic_R: [ 2.67949e-08,-1,  0,
+                 1,2.67949e-08,  0,
+                 0,          0,  1, ]
+
+point_filter_num: 10
+max_iteration: 3
+imu_has_gravity: false
+with_ui: false

workspace/slam_in_autonomous_driving/config/velodyne_utbm.yaml

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+preprocess:
+  lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
+  scan_line: 32
+  time_scale: 1e-3             # 兼容不同数据集的时间单位
+
+mapping:
+  extrinsic_T: [ -0.5, 1.4, 1.5 ]
+  extrinsic_R: [ 1, 0, 0,
+                 0, 1, 0,
+                 0, 0, 1 ]
+
+point_filter_num: 10
+max_iteration: 3
+imu_has_gravity: false
+with_ui: false

workspace/slam_in_autonomous_driving/config/velodyne_wxb.yaml

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+common:
+  dataset: "wxb"
+  lid_topic: "points_raw"
+  imu_topic: "imu_raw"
+  time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+
+preprocess:
+  lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
+  scan_line: 32
+  time_scale: 1e-3             # 兼容不同数据集的时间单位，仅对Velodyne LiDAR(lidar_type=2)生效
+
+mapping:
+  extrinsic_T: [ 0, 0, 0 ]
+  extrinsic_R: [ 1, 0, 0,
+                 0, 1, 0,
+                 0, 0, 1 ]
+
+
+point_filter_num: 10
+max_iteration: 3
+imu_has_gravity: false
+with_ui: false
+