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add the switch for the online extrinsic estimation

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xw
2021-08-09 07:05:19 -04:00
parent f159d57da8
commit 53ee209c12
7 changed files with 44 additions and 31 deletions
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7
config/avia.yaml
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@@ -15,12 +15,13 @@ mapping:
b_gyr_cov: 0.0001
fov_degree: 90
det_range: 450.0
extrinsic_est_en: false # true: enable the online estimation of IMU-LiDAR extrinsic
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]
publish:
scan_publish_en: 1 # 'false' will close all the point cloud output
dense_publish_en: 1 # false will low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: 1 # output the point cloud scans in IMU-body-frame
scan_publish_en: true # false: close all the point cloud output
dense_publish_en: true # false: low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame