From 81a80d25e4059546023682775d45f6f45b79c282 Mon Sep 17 00:00:00 2001
From: TixiaoShan <tixiao.shan@gmail.com>
Date: Wed, 8 Jul 2020 21:09:30 -0400
Subject: [PATCH] update readme typo
---
README.md | 2 +-
config/params.yaml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/README.md b/README.md
index 3a3e69e..f111281 100644
--- a/README.md
+++ b/README.md
@@ -142,7 +142,7 @@ rosbag play your-bag.bag -r 3
<img src="./config/doc/gps-demo.gif" alt="drawing" width="400"/>
</p>
- - **KITTI:** Since LIO-SAM needs a high-frequency IMU for function properly, we need to use KITTI raw data for testing. One problem remains unsolved is that the intrinsics of the IMU is unknown, which has a big impact on the accuracy of LIO-SAM. Download the provided sample data and make the following changes in "params.yaml":
+ - **KITTI:** Since LIO-SAM needs a high-frequency IMU for function properly, we need to use KITTI raw data for testing. One problem remains unsolved is that the intrinsics of the IMU are unknown, which has a big impact on the accuracy of LIO-SAM. Download the provided sample data and make the following changes in "params.yaml":
- extrinsicTrans: [-8.086759e-01, 3.195559e-01, -7.997231e-01]
- extrinsicRot: [9.999976e-01, 7.553071e-04, -2.035826e-03, -7.854027e-04, 9.998898e-01, -1.482298e-02, 2.024406e-03, 1.482454e-02, 9.998881e-01]
- extrinsicRPY: [9.999976e-01, 7.553071e-04, -2.035826e-03, -7.854027e-04, 9.998898e-01, -1.482298e-02, 2.024406e-03, 1.482454e-02, 9.998881e-01]
diff --git a/config/params.yaml b/config/params.yaml
index 3084893..d156362 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -70,7 +70,7 @@ lio_sam:
surroundingKeyframeSearchRadius: 50.0 # meters, within n meters scan-to-map optimization (when loop closure disabled)
# Loop closure
- loopClosureEnableFlag: true
+ loopClosureEnableFlag: false
surroundingKeyframeSize: 25 # submap size (when loop closure enabled)
historyKeyframeSearchRadius: 15.0 # meters, key frame that is within n meters from current pose will be considerd for loop closure
historyKeyframeSearchTimeDiff: 30.0 # seconds, key frame that is n seconds older will be considered for loop closure
--
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