common:
    lid_topic:  "/livox/lidar"
    imu_topic:  "/imu/data_raw"
    time_sync_en: true         # ONLY turn on when external time synchronization is really not possible

preprocess:
    lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
    scan_line: 1
    blind: 4

mapping:
    acc_cov: 0.1
    gyr_cov: 0.1
    b_acc_cov: 0.0001
    b_gyr_cov: 0.0001
    fov_degree:    90
    det_range:     450.0
    extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic
    extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
    extrinsic_R: [ 0, -1, 0,
                   1, 0, 0,
                   0, 0, 1]

publish:
    path_en:  false
    scan_publish_en:  true       # false: close all the point cloud output
    dense_publish_en: true       # 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

pcd_save:
    pcd_save_en: true
    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 much frames.