common:
#NCLT
#    lid_topic: "/points_raw"
#    imu_topic: "/imu_raw"

#KITTI
#    lid_topic: "/kitti/velo/pointcloud"
#    imu_topic: "/kitti/oxts/imu"

#RS LiDar
    lid_topic: "/rslidar"
    imu_topic: "/imu"
    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
    
preprocess:
    lidar_type: 4                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 RS
    scan_line: 128
    scan_rate: 10                # only need to be set for velodyne, unit: Hz,
    blind: 4

mapping:
    acc_cov: 0.1
    gyr_cov: 0.1
    b_acc_cov: 0.0001
    b_gyr_cov: 0.0001
    fov_degree:    180
    det_range:     100.0
    extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
    extrinsic_T: [ 1.494363791111, 0.000030061324, 0.903719820280]
    extrinsic_R: [ -0.508348737805, 0.861029086113, -0.014507709641,
                   -0.861100925582, -0.508429079519, -0.002251013466,
                   -0.009314329527, 0.011348302346, 0.999892223842]

publish:
    path_en:  true
    scan_publish_en:  true       # false: close all the point cloud output
    dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
    scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame

pcd_save:
    pcd_save_en: false
    interval: -1                 # how many LiDAR frames saved in each pcd file; 
                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.