20 lines
434 B
YAML
20 lines
434 B
YAML
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common:
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lid_topic: "/livox/lidar"
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imu_topic: "/livox/imu"
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preprocess:
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lidar_type: 1 # Livox Avia LiDAR
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scan_line: 6
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blind: 1
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mapping:
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acc_cov: 0.1
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gyr_cov: 0.1
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b_acc_cov: 0.0001
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b_gyr_cov: 0.0001
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fov_degree: 100
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det_range: 260.0
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extrinsic_T: [ 0.05512, 0.02226, -0.0297 ]
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extrinsic_R: [ 1, 0, 0,
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0, 1, 0,
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0, 0, 1]
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