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- common:
- lid_topic: "/velodyne_points"
- imu_topic: "/imu/data"
- #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: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
- scan_line: 32
- 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: true # true: enable the online estimation of IMU-LiDAR extrinsic,
- extrinsic_T: [ 0, 0, 0.28]
- extrinsic_R: [ 1, 0, 0,
- 0, 1, 0,
- 0, 0, 1]
- 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: true
- 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.
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