mirrors/FAST_LIO
1
0
Fork 0
mirror of https://github.com/hku-mars/FAST_LIO.git synced 2023-04-06 16:28:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

support for Scan context loop closure

Browse Source
This commit is contained in:
xw
2021-07-14 06:51:30 -04:00
parent 96774ef3e9
commit c8aea0dd95
7 changed files with 89 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
config/horizon.yaml
View File

@@ -18,4 +18,9 @@ mapping:
extrinsic_T: [ 0.05512, 0.02226, -0.0297 ]
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