common:
  frame_id: "lili_om"
  
preprocessing:
  surf_thres: 0.28 
  edge_thres: 4 

lidar_odometry:
  max_num_iter: 15
  scan_match_cnt: 1
  if_to_deskew: false

backend_fusion:
  imu_topic: "/imu/data"
  max_num_iter: 15 
  local_map_width: 40
  slide_window_width: 3 
  lidar_const: 20 
  reflect_thres: 15.0
  surf_dist_thres: 0.12
  kd_max_radius: 1.0
  surf_ds: 0.4
  edge_ds: 0.2
  loop_closure_on: true
  global_lc_time_thres: 25.0
  local_lc_time_thres: 25.0
  lc_search_radius: 10
  lc_map_width: 20
  lc_icp_thres: 0.1 #iosb_large: 0.1
  mapping_interval: 7
  save_pcd: false
  mapping_ds: 0.3

#extrinsic imu to lidar
  ql2b_w: 0
  ql2b_x: 0
  ql2b_y: 0
  ql2b_z: 1

  tl2b_x: -0.0265
  tl2b_y: 0.0202
  tl2b_z: 0.05309