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- %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"
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