lidar_to_gnss_sample_config.yaml

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#LiDAR-to-GNSS calibration data service configurations
#Sensor names: calibrate the source_sensor in destination_sensor coordinate
calibration_task: "lidar_to_gnss"
source_sensor: "velodyne128"
destination_sensor: "novatel"
 
#for lidar-gnss. use odometry message and lidar message.
#provide the local file directory( relevant to this config file), for the sensor message storage.
odometry_file: "./_sensor_novatel_Odometry/odometry"
sensor_files_directory: "./_sensor_velodyne64_VelodyneScan/"
#initial calibration paramters, including translation and raotation, to project a point in source
#source_sensor coordinate to destination_sensor coordinate. translation is in meter. rotation is in quaternion
transform:
  translation:
    x: 0.0
    y: 0.0
    z: 0.0
  rotation:
    x: 0.0
    y: 0.0
    z: 0.7071
    w: 0.7071