Update ouster64.yaml

disable the online extrinsic estimation
hku-mars · Mar 15, 2022 · 9012439 · 9012439
1 parent 5350f42
commit 9012439
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/config/ouster64.yaml b/config/ouster64.yaml
@@ -16,7 +16,7 @@ mapping:
     b_gyr_cov: 0.0001
     fov_degree:    180
     det_range:     150.0
-    extrinsic_est_en:  true      # true: enable the online estimation of IMU-LiDAR extrinsic
+    extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic
     extrinsic_T: [ 0.0, 0.0, 0.0 ]
     extrinsic_R: [1, 0, 0,
                   0, 1, 0,
@@ -31,4 +31,4 @@ publish:
 pcd_save:
     pcd_save_en: true
     interval: -1                 # how many LiDAR frames saved in each pcd file; 
-                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
+                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.