# global configs
lidar: VLP16
log_to_file: false
log_path: /data/log/oh_my_loam
vis: true
save_map_path: /data/log/oh_my_loam.pcd

# configs for extractor
extractor_config:
  vis: false
  verbose: false
  min_point_num: 66
  scan_seg_num: 12
  sharp_corner_point_num: 1
  corner_point_num: 10
  flat_surf_point_num: 2
  corner_point_curvature_th: 0.5
  surf_point_curvature_th: 0.5
  neighbor_point_dist_sq_th: 0.1
  downsample_voxel_size: 0.6

# configs for odometer
odometer_config:
  vis: false
  verbose: false
  nearby_scan_num: 1
  min_correspondence_num: 10
  icp_iter_num: 4
  solve_iter_num: 4
  corn_match_dist_sq_th: 16.0
  surf_match_dist_sq_th: 16.0

# configs for mapper
mapper_config:
  vis: false
  verbose: false
  map_shape: [5, 21, 21]
  map_step: 50
  submap_shape: [1, 5, 5]
  icp_iter_num: 2
  solve_iter_num: 4
  min_correspondence_num: 10
  nearest_neighbor_k: 5
  neighbor_point_dist_sq_th: 1.0
  min_line_fit_score: 2
  min_plane_fit_score: 2
  downsample_voxel_size: 0.6