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Update ouster64.yaml 

disable the online extrinsic estimation
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Cris.Wei 2022-03-15 16:15:11 +08:00 committed by GitHub
parent 5350f429eb
commit 90124391ca
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1 changed files with 2 additions and 2 deletions
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config/ouster64.yaml
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@ -16,7 +16,7 @@ mapping:
b_gyr_cov: 0.0001 b_gyr_cov: 0.0001
fov_degree: 180 fov_degree: 180
det_range: 150.0 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_T: [ 0.0, 0.0, 0.0 ]
extrinsic_R: [1, 0, 0, extrinsic_R: [1, 0, 0,
0, 1, 0, 0, 1, 0,
@ -31,4 +31,4 @@ publish:
pcd_save: pcd_save:
pcd_save_en: true pcd_save_en: true
interval: -1 # how many LiDAR frames saved in each pcd file; 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. # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.