Scan 2026-10-29_Grotte-Aldene_03 (fastlio2, cube 0.02 m)

.gitattributes

@@ -59,3 +59,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
 scans/2026-10-29_Grotte-Aldene_01/2026-10-29_Grotte-Aldene_01.copc.laz filter=lfs diff=lfs merge=lfs -text
+scans/2026-10-29_Grotte-Aldene_03/2026-10-29_Grotte-Aldene_03.copc.laz filter=lfs diff=lfs merge=lfs -text

scans/2026-10-29_Grotte-Aldene_03/2026-10-29_Grotte-Aldene_03.copc.laz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c4c1059216fb5faeba1568161229b31e0822a82f4e0769f97866d66a0a4d7f
+size 37378181

scans/2026-10-29_Grotte-Aldene_03/info.json

@@ -0,0 +1,89 @@
+{
+  "id": "2026-10-29_Grotte-Aldene_03",
+  "titre": "2026-10-29_Grotte-Aldene_03",
+  "notes": "",
+  "bag": "2026-10-29_Grotte-Aldene_03",
+  "run": "2026-11-03_045807_fastlio2_2026-10-29-Grotte-Aldene-03",
+  "algo": {
+    "name": "fastlio2",
+    "description": "FAST-LIO2 (Ericsii/FAST_LIO_ROS2) — odométrie LiDAR-inertielle, sans fermeture de boucle",
+    "image": "usc/fastlio2:baseline",
+    "image_id": "sha256:92f435b4aed6",
+    "commit": "2fffc570a25d0df172720bac034fbdb6a13d2162"
+  },
+  "reglages": {
+    "rate": 1.0,
+    "overrides": {
+      "dense_publish_en": {
+        "old": false,
+        "new": true
+      },
+      "filter_size_surf": {
+        "old": 0.5,
+        "new": 0.4
+      },
+      "filter_size_map": {
+        "old": 0.5,
+        "new": 0.5
+      },
+      "blind": {
+        "old": 0.5,
+        "new": 1.2
+      },
+      "point_filter_num": {
+        "old": 3,
+        "new": 2
+      },
+      "max_iteration": {
+        "old": 3,
+        "new": 6
+      },
+      "acc_cov": {
+        "old": 0.1,
+        "new": 0.26
+      },
+      "gyr_cov": {
+        "old": 0.1,
+        "new": 0.25
+      },
+      "det_range": {
+        "old": 100.0,
+        "new": 100.0
+      }
+    },
+    "config_source": "usc/fastlio2:baseline:/ws_fastlio/src/FAST_LIO_ROS2/config/mid360.yaml",
+    "config_hash": "7d573617ef46cc61"
+  },
+  "config": "/**:\n  ros__parameters:\n    feature_extract_enable: false\n    point_filter_num: 2\n    max_iteration: 6\n    filter_size_surf: 0.4\n    filter_size_map: 0.5\n    cube_side_length: 1000.0\n    runtime_pos_log_enable: false\n    map_file_path: /out/map.pcd\n    common: {lid_topic: /livox/lidar, imu_topic: /livox/imu, time_sync_en: false,\n      time_offset_lidar_to_imu: 0.0}\n    preprocess: {lidar_type: 1, scan_line: 4, blind: 1.2, timestamp_unit: 3, scan_rate: 10}\n    mapping:\n      acc_cov: 0.26\n      gyr_cov: 0.25\n      b_acc_cov: 0.0001\n      b_gyr_cov: 0.0001\n      fov_degree: 360.0\n      det_range: 100.0\n      extrinsic_est_en: true\n      extrinsic_T: [-0.011, -0.02329, 0.04412]\n      extrinsic_R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]\n    publish: {path_en: true, effect_map_en: false, map_en: true, scan_publish_en: true,\n      dense_publish_en: true, scan_bodyframe_pub_en: true}\n    pcd_save: {pcd_save_en: true, interval: -1}\n",
+  "nuage": {
+    "fichier": "2026-10-29_Grotte-Aldene_03.copc.laz",
+    "points": 4028095,
+    "points_replaces": 11224170,
+    "cube_m": 0.02,
+    "echelle_m": 0.001,
+    "champs": {
+      "Intensity": "réflectivité Livox (0-255)",
+      "GpsTime": "instant du premier point vu dans le cube, s depuis t0"
+    },
+    "repere": "local (départ du SLAM), mis à niveau : z vertical",
+    "filtre": "1-40 m du capteur, tags Livox douteux et porteur écartés"
+  },
+  "trajectoire": {
+    "fichier": "trajectory.tum",
+    "format": "TUM : t x y z qx qy qz qw",
+    "pose_de": "imu",
+    "repere": "celui du nuage, t en s depuis t0"
+  },
+  "t0_s": 1792527459.9849503,
+  "horloge": "Jetson (non synchronisée : la date réelle est dans l'identifiant)",
+  "duree_s": 109.017,
+  "mesures": {
+    "epaisseur_murs_cm": 3.76,
+    "boucle": null
+  },
+  "outils": {
+    "banc": "underscanner-bench",
+    "pdal": "2.10.2"
+  },
+  "publie": "2026-11-10T17:12:02"
+}

scans/2026-10-29_Grotte-Aldene_03/trajectory.tum

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