在线优化地图偏移

[eidv-deng]

trafficstars

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
[

](url)