48 lines
998 B
YAML
48 lines
998 B
YAML
# global configs
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lidar: VLP16
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log_to_file: false
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log_path: /data/log/oh_my_loam
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vis: true
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save_map_path: /data/log/oh_my_loam.pcd
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# configs for extractor
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extractor_config:
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vis: false
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verbose: false
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min_point_num: 66
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scan_seg_num: 12
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sharp_corner_point_num: 1
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corner_point_num: 10
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flat_surf_point_num: 2
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corner_point_curvature_th: 0.5
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surf_point_curvature_th: 0.5
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neighbor_point_dist_sq_th: 0.1
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downsample_voxel_size: 0.6
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# configs for odometer
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odometer_config:
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vis: false
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verbose: false
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nearby_scan_num: 1
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min_correspondence_num: 10
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icp_iter_num: 4
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solve_iter_num: 4
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corn_match_dist_sq_th: 16.0
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surf_match_dist_sq_th: 16.0
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# configs for mapper
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mapper_config:
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vis: false
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verbose: false
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map_shape: [5, 21, 21]
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map_step: 50
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submap_shape: [1, 5, 5]
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icp_iter_num: 2
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solve_iter_num: 4
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min_correspondence_num: 10
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nearest_neighbor_k: 5
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neighbor_point_dist_sq_th: 1.0
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min_line_fit_score: 2
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min_plane_fit_score: 2
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downsample_voxel_size: 0.6
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