liosam lc disabled

engcang · Jan 31, 2025 · 412e162 · 412e162
1 parent 20246fa
commit 412e162
Show file tree

Hide file tree

Showing 9 changed files with 9 additions and 9 deletions.
diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/2021hilti_os.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/2021hilti_os.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 5.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
   historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure

diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/2022hilti.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/2022hilti.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 5.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
   historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure

diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/mulran.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/mulran.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 50.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 50                   # 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

diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/ncd.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/ncd.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 5.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
   historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure

diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/ntu1.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/ntu1.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 5.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
   historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure

diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/subt_handheld.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/subt_handheld.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 5.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
   historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure

diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/subt_longcorridor.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/subt_longcorridor.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 5.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
   historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure

diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/subt_multifloor.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/subt_multifloor.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 5.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
   historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure

diff --git a/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/subt_ugv.yaml b/LIO_SAM_6AXIS/LIO_SAM_6AXIS/config/subt_ugv.yaml
@@ -72,7 +72,7 @@ lio_sam_6axis:
   surroundingKeyframeSearchRadius: 5.0         # meters, within n meters scan-to-map optimization (when loop closure disabled)
 
   # Loop closure
-  loopClosureEnableFlag: true
+  loopClosureEnableFlag: false
   loopClosureFrequency: 1.0                     # Hz, regulate loop closure constraint add frequency
   surroundingKeyframeSize: 30                   # submap size (when loop closure enabled)
   historyKeyframeSearchRadius: 30.0             # meters, key frame that is within n meters from current pose will be considerd for loop closure