common:
  frame_id: "lili_om"
  map_frame: "map"
  file_path: "/home/lenotary/work/file/"
preprocessing:
  surf_thres: 0.15
  edge_thres: 4

lidar_odometry:
  max_num_iter: 15
  scan_match_cnt: 2 
  if_to_deskew: false 

backend_fusion: 
  imu_topic: "/imu/data"
  max_num_iter: 15
  local_map_width: 30 
  slide_window_width: 3 
  lidar_const: 15 
  reflect_thres: 15.0 
  surf_dist_thres: 0.03 
  kd_max_radius: 1.0 
  surf_ds: 0.4 
  edge_ds: 0.2
  loop_closure_on: true
  lc_search_radius: 7 
  lc_map_width: 20 
  lc_icp_thres: 0.15
  global_lc_time_thres: 60.0 
  local_lc_time_thres: 60.0 
  mapping_interval: 3 
  save_pcd: true
  save_json: false
  mapping_ds: 0.3
  isDense: true

#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