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add the scan rate parameter

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xw
2021-09-22 22:58:38 -04:00
parent d85c9eff50
commit 45aa82e4d6
5 changed files with 12 additions and 9 deletions
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3
config/velodyne.yaml
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@@ -6,6 +6,7 @@ common:
preprocess:
lidar_type: 2 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,
scan_line: 32
scan_rate: 10 # only need to be set for velodyne, unit: Hz,
blind: 4
mapping:
@@ -15,7 +16,7 @@ mapping:
b_gyr_cov: 0.0001
fov_degree: 180
det_range: 100.0
extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic
extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic,
extrinsic_T: [ 0, 0, 0.28]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,