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- common:
- frame_id: "lili_om"
-
- preprocessing:
- surf_thres: 0.17
- 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: 20
- local_map_width: 40
- slide_window_width: 3
- lidar_const: 15
- reflect_thres: 15.0
- surf_dist_thres: 0.08
- kd_max_radius: 1.0
- surf_ds: 0.4
- edge_ds: 0.2
- loop_closure_on: true
- lc_search_radius: 10
- lc_map_width: 20
- lc_icp_thres: 0.1
- global_lc_time_thres: 60.0
- local_lc_time_thres: 60.0
- mapping_interval: 5
- save_pcd: false
- mapping_ds: 0.3
- #extrinsic imu to lidar
- ql2b_w: 0
- ql2b_x: 0
- ql2b_y: 1
- ql2b_z: 0
- tl2b_x: -0.05
- tl2b_y: -0.0202
- tl2b_z: -0.13
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