2021-07-04 22:17:41 +08:00
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common:
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lid_topic: "/os_cloud_node/points"
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imu_topic: "/os_cloud_node/imu"
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preprocess:
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2021-07-06 11:18:10 +08:00
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lidar_type: 3 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
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2021-07-04 22:17:41 +08:00
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scan_line: 64
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2021-07-06 14:38:05 +08:00
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blind: 4
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2021-07-04 22:17:41 +08:00
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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: 180
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det_range: 150.0
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extrinsic_T: [ 0.0, 0.0, 0.0 ]
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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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