在线优化地图偏移 #131
Description
在线优化偏移，请问这是什么情况
我的参数如下
`preprocess:
lidar_type: 6
scan_line: 96
blind: 1
feature_extract_en: false
initialization:
cut_frame_num: 5
orig_odom_freq: 1
mean_acc_norm: 9.81
online_refine_time: 10.0
data_accum_length: 300
Rot_LI_cov: [ 0.00005, 0.0005, 0.00005 ]
Trans_LI_cov: [ 0.0001, 0.0001, 0.0001 ]
mapping:
filter_size_surf: 0.05
filter_size_map: 0.15
gyr_cov: 2
acc_cov: 2
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
det_range: 100.0
publish:
path_en: true
scan_publish_en: true
dense_publish_en: true
scan_bodyframe_pub_en: true
pcd_save:
pcd_save_en: false
interval: -1
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