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- # #
- # Copyright (c) 2021, University of California, Los Angeles #
- # #
- # Authors: Kenny J. Chen, Brett T. Lopez #
- # Contact: kennyjchen@ucla.edu, btlopez@ucla.edu #
- # #
- #############################################################
- dlo:
- odomNode:
- preprocessing:
- cropBoxFilter:
- use: true
- size: 1.0
- voxelFilter:
- scan:
- use: true
- res: 0.25
- submap:
- use: true
- res: 0.5
- keyframe:
- threshD: 5.0
- threshR: 45.0
- submap:
- keyframe:
- knn: 10
- kcv: 10
- kcc: 10
- imu:
- calibTime: 3
- bufferSize: 2000
- gicp:
- minNumPoints: 10
- s2s:
- kCorrespondences: 10
- maxCorrespondenceDistance: 1.0
- maxIterations: 32
- transformationEpsilon: 0.01
- euclideanFitnessEpsilon: 0.01
- ransac:
- iterations: 5
- outlierRejectionThresh: 1.0
- s2m:
- kCorrespondences: 20
- maxCorrespondenceDistance: 0.5
- maxIterations: 32
- transformationEpsilon: 0.01
- euclideanFitnessEpsilon: 0.01
- ransac:
- iterations: 5
- outlierRejectionThresh: 1.0
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