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- common:
- frame_id: "lili_om"
- map_frame: "map"
- file_path: "/home/lenotary/work/file/"
- preprocessing:
- surf_thres: 0.16
- edge_thres: 4
- lidar_odometry:
- max_num_iter: 15
- scan_match_cnt: 1
- if_to_deskew: true
- 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
- global_lc_time_thres: 60.0
- local_lc_time_thres: 60.0
- lc_search_radius: 20
- lc_map_width: 20
- lc_icp_thres: 0.15
- mapping_interval: 1
- save_pcd: true
- save_json: false
- mapping_ds: 0.2
- 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
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