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support for Scan context loop closure

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xw
2021-07-14 06:51:30 -04:00
parent 96774ef3e9
commit c8aea0dd95
7 changed files with 89 additions and 38 deletions
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7
config/avia.yaml
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@@ -18,4 +18,9 @@ mapping:
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]
0, 0, 1]
publish:
scan_publish_en: true # 'false' will close all the point cloud output
dense_publish_en: ture # false will low down the points number in a global-frame point clouds scan.
scan_bodyframe_pub_en: true # output the point cloud scans in IMU-body-frame