dlio_kitti.yaml

###########################################################
#                                                         #
# Copyright (c)                                           #
#                                                         #
# The Verifiable & Control-Theoretic Robotics (VECTR) Lab #
# University of California, Los Angeles                   #
#                                                         #
# Authors: Kenny J. Chen, Ryan Nemiroff, Brett T. Lopez   #
# Contact: {kennyjchen, ryguyn, btlopez}@ucla.edu         #
#                                                         #
###########################################################

dlio:

  version: 1.1.1

  adaptive: false

  pointcloud:
    deskew: true
    voxelize: true

  imu:
    calibration: true
    intrinsics:
      accel:
        bias: [ 0.0, 0.0, 0.0 ]
        sm:   [ 1.,  0.,  0.,
                0.,  1.,  0.,
                0.,  0.,  1. ]
      gyro:
        bias: [ 0.0, 0.0, 0.0 ]

  extrinsics:
    baselink2imu:
      t: [ 0.006253, -0.011775, 0.007645 ]
      R: [ 1.,  0.,  0.,
           0.,  1.,  0.,
           0.,  0.,  1. ]
    baselink2lidar:
      t: [ 0.,  0.,  0. ]
      R: [ 1.,  0.,  0.,
           0.,  1.,  0.,
           0.,  0.,  1. ]