l515.yaml

common:
    lid_topic:  "/camera/depth/color/points"
    imu_topic:  "/camera/imu"

preprocess:
    lidar_type: 3                # L515 LiDAR
    scan_line: 64
    blind: 0.1
    point_filter_num: 1
    calib_laser: false

mapping:
    down_sample_size: 0.1
    max_iteration: 3
    voxel_size: 0.10
    max_layer: 2 
    layer_point_size: [20, 10, 10, 5, 5]
    plannar_threshold: 0.01
    max_points_size: 200
    max_cov_points_size: 200

noise_model:
    ranging_cov: 0.05
    angle_cov: 0.25
    acc_cov_scale: 1.0
    gyr_cov_scale: 0.5

imu:
    imu_freq: 200.0
    imu_en: true
    extrinsic_T: [ 0, 0, 0]
    extrinsic_R: [ 1, 0, 0, 
                   0, 1, 0, 
                   0, 0, 1]

visualization:
    pub_voxel_map: false
    publish_max_voxel_layer: 1         # only publish 0,1 layer's plane
    pub_point_cloud: true
    dense_map_enable: true
    pub_point_cloud_skip: 500            # publish one points per five points

Result:
    write_kitti_log: false
    result_path: ""