20 lines
428 B
YAML
20 lines
428 B
YAML
common:
|
|
lid_topic: "/livox/lidar"
|
|
imu_topic: "/livox/imu"
|
|
|
|
preprocess:
|
|
lidar_type: 1 # Livox Avia LiDAR
|
|
scan_line: 6
|
|
blind: 1
|
|
|
|
mapping:
|
|
acc_cov: 0.1
|
|
gyr_cov: 0.1
|
|
b_acc_cov: 0.0001
|
|
b_gyr_cov: 0.0001
|
|
fov_degree: 90
|
|
det_range: 450.0
|
|
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
|
|
extrinsic_R: [ 1, 0, 0,
|
|
0, 1, 0,
|
|
0, 0, 1] |