pointCloudTopic: "/apollo/sensor/lidar16/back/PointCloud2"
imuTopic: "/apollo/sensor/gnss/imu"
odomTopic: "odometry/imu"
gpsTopic: "/apollo/sensor/gnss/best_pose"
lidarFrame: "lidar16_back"
baselinkFrame: "lidar"
odometryFrame: "odom"
mapFrame: "map"
imuframe: "novatel"
useImuHeadingInitialization: true
useGpsElevation: true
gpsCovThreshold: 2.0
poseCovThreshold: 1.0
savePCD: false
savePCDDirectory: "/Downloads/LOAM/"
sensor: "velodyne"
N_SCAN: 16
Horizon_SCAN: 1800
downsampleRate: 1
point_filter_num: 1
lidarMinRange: 1.0
lidarMaxRange: 1000.0
imuType: 0
imuRate: 100.0
imuAccNoise: 3.9939570888238808e-03
imuGyrNoise: 1.5636343949698187e-03
imuAccBiasN: 6.4356659353532566e-05
imuGyrBiasN: 3.5640318696367613e-05
imuGravity: 9.80511
imuRPYWeight: 0.01
mappingSurfLeafSize: 0.4
z_tollerance: 1000
rotation_tollerance: 1000
numberOfCores: 4
mappingProcessInterval: 0.0
surroundingkeyframeAddingDistThreshold: 1.0
surroundingkeyframeAddingAngleThreshold: 0.2
surroundingKeyframeDensity: 2.0
surroundingKeyframeSearchRadius: 50.0
surroundingKeyframeMapLeafSize: 0.5
loopClosureEnableFlag: true
loopClosureFrequency: 1.0
surroundingKeyframeSize: 50
historyKeyframeSearchRadius: 15.0
historyKeyframeSearchTimeDiff: 30.0
historyKeyframeSearchNum: 25
loopClosureICPSurfLeafSize: 0.5
historyKeyframeFitnessScore: 0.3
globalMapVisualizationSearchRadius: 1000.0
globalMapVisualizationPoseDensity: 10.0
globalMapVisualizationLeafSize: 1.0
