%YAML:1.0


# switches
Lidar_Type: 0    # 0-horizon
Used_Line: 6    # lines used for lio, set to 1~6
Feature_Mode: 0    # 0(false) or 1(true)
NumCurvSize: 2
DistanceFaraway: 100 # [m]  <DistanceFaraway near / >DistanceFaraway far
NumFlat: 3 # nums of one part's flat feature
PartNum: 150 # nums of one scan's parts
FlatThreshold: 0.02 # cloud curvature threshold of flat feature
BreakCornerDis: 1 # break distance of break points
LidarNearestDis: 0.1 # if(depth < LidarNearestDis) do not use this point 
KdTreeCornerOutlierDis: 0.2 # corner filter threshold
Use_seg: 0 # use segment algorithm
map_skip_frame: 2

ivox_nearby_type: 26 #6  18 26
max_ivox_node: 500
ivox_node_solution: 0.3
map_file: "../map/bbt/featurebbt_transformed.txt"