2020-10-16 18:08:31 +08:00
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# global configs
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lidar: VPL16
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2020-10-18 01:14:43 +08:00
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log_to_file: false
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log_path: /home/lf/catkin_ws/src/oh_my_loam/.log
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vis: true
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2020-10-16 18:08:31 +08:00
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# configs for feature points extractor
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2020-10-18 01:14:43 +08:00
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extractor_config:
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min_point_num: 66
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vis: true
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sharp_corner_point_num: 2
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corner_point_num: 20
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flat_surf_point_num: 4
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2020-10-29 20:32:19 +08:00
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surf_point_num: 20 ## useless currently
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2020-10-18 01:14:43 +08:00
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corner_point_curvature_thres: 0.5
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surf_point_curvature_thres: 0.5
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neighbor_point_dist_thres: 0.05
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2020-10-29 20:32:19 +08:00
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downsample_voxel_size: 0.2
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odometry_config:
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2020-10-29 21:12:43 +08:00
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icp_iter_num : 2
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2020-10-30 19:27:44 +08:00
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match_dist_thresh: 0.5
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