20 lines
419 B
YAML
20 lines
419 B
YAML
common:
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lid_topic: "/velodyne_points"
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imu_topic: "/imu/data"
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preprocess:
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lidar_type: 2 # VLP-16 LiDAR
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scan_line: 32
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blind: 4
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mapping:
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acc_cov: 0.1
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gyr_cov: 0.1
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b_acc_cov: 0.0001
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b_gyr_cov: 0.0001
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fov_degree: 180
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det_range: 100.0
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extrinsic_T: [ 0, 0, 0.28]
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extrinsic_R: [ 1, 0, 0,
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0, 1, 0,
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0, 0, 1] |