From 90124391cafb9833a84a4e4000238cf532270720 Mon Sep 17 00:00:00 2001 From: "Cris.Wei" Date: Tue, 15 Mar 2022 16:15:11 +0800 Subject: [PATCH] Update ouster64.yaml disable the online extrinsic estimation --- config/ouster64.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/ouster64.yaml b/config/ouster64.yaml index 0615436..3e6ef56 100644 --- a/config/ouster64.yaml +++ b/config/ouster64.yaml @@ -16,7 +16,7 @@ mapping: b_gyr_cov: 0.0001 fov_degree: 180 det_range: 150.0 - extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic + extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic extrinsic_T: [ 0.0, 0.0, 0.0 ] extrinsic_R: [1, 0, 0, 0, 1, 0, @@ -31,4 +31,4 @@ publish: 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. \ No newline at end of file + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.