Add files via upload

Author: gitouni

config/calib/ba_calib.yml

@@ -0,0 +1,11 @@
+%YAML:1.0
+---
+BaseDir: ../KITTI-00
+KeyFrameDir: KeyFrames
+VOFile: Twc.txt
+VOIdFile: FrameId.yml
+MapFile: Map.xml
+LOFile: floam_isam_00.txt
+ResFile: ba_calib_00.txt
+method: local # global or local
+method_options: {"global":1,"local":2}

config/calib/he_calib.yml

@@ -0,0 +1,13 @@
+%YAML:1.0
+---
+io:
+  BaseDir: ../KITTI-00
+  VOFile: Twc.txt
+  LOFile: floam_isam_00.txt
+  VOIdFile: FrameId.yml
+  ResFile: he_calib_00.txt
+
+runtime:
+  regulation: true
+  regulation_weight: 0.003
+  verborse: true

config/loam/backend.yml

@@ -20,9 +20,11 @@ loopclosure:
   loopInlierRMSEThre: 0.3
 
 multiway:
+  use: false
   MRmaxIter: 100
   MRmaxCorrDist: 1.2
   MREdgePruneThre: 0.25
+  RefineOdom: false
 
 io:
   isam_poses: ../floam_isam_00.txt

config/settings.sh

@@ -0,0 +1 @@
+export LD_LIBRARY_PATH=""