exp_port.yaml

%YAML:1.0

# settings
calibrate_imu: 0  # 0: no imu calibration and use default values. 1: calibrate imu
show_configuration: 0
average_nums: 100
imu_lidar_extrinsic_angle: 0.0
imu_misalign_angle: 3.0
line_num: 32 
scan_num: 1800
scan_period: 0.1
edge_threshold: 0.5
surf_threshold: 0.5
nearest_feature_search_sq_dist: 25
verbose: 0
icp_freq: 1
max_lidar_nums: 200000
num_iter: 30
lidar_scale: 1
lidar_std: 0.01

# topic names
imu_topic: "/imu/data"
lidar_topic: "/velodyne_points"
lidar_odometry_topic: "/laser_odom_to_init"
lidar_mapping_topic: "/integrated_to_init"

# noice parameters
acc_n: 70000
gyr_n: 0.1
acc_w: 500
gyr_w: 0.05

init_pos_std: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [0.0, 0.0, 0.0]
   
init_vel_std: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [0.0, 0.0, 0.0]

init_att_std: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [0.0, 0.0, 0.0]
   
init_acc_std: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [0.01, 0.01, 0.02]
      
init_gyr_std: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [0.002, 0.002, 0.002]
  
# initial IMU biases
init_ba: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   # data: [-0.015774,0.143237,-0.0263845]
   data: [0,0,0]
   
init_bw: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   # data: [-0.00275058,-0.000165954,0.00262913]
   data: [0,0,0]
   
# extrinsic parameters
init_tbl: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [0.27255, -0.00053,0.17954]
   
init_rbl: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data:  [1, 0, 0, 
           0, 1, 0, 
           0, 0, 1]