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information is stored in [version_info] section for compatibility checking. + +[version_info] +software_version = "v0.104.0" +config_version = "1.0" +build_date = "Sep 5 2026" + +[ablation_study] +ablation_study_use_norm = false +ablation_study_use_hierarchical_rgd = true +ablation_study_use_view_point_and_normal_vectors = true +ablation_study_use_threshold_outdoor_rgd = false + +[ahrs_vqf] +fusionConventionEnu = false +fusionConventionNed = false +fusionConventionNwu = true +fusion_gain = 0.5 +use_vqf = false +vqf_biasClip = 2.0 +vqf_biasForgettingTime = 100.0 +vqf_biasSigmaInit = 0.5 +vqf_biasSigmaMotion = 0.10000000000000001 +vqf_biasSigmaRest = 0.029999999999999999 +vqf_biasVerticalForgettingFactor = 0.0001 +vqf_magCurrentTau = 0.050000000000000003 +vqf_magDipTh = 10.0 +vqf_magDistRejectionEnabled = true +vqf_magMaxRejectionTime = 60.0 +vqf_magMinUndisturbedTime = 0.5 +vqf_magNewFirstTime = 5.0 +vqf_magNewMinGyr = 20.0 +vqf_magNewTime = 20.0 +vqf_magNormTh = 0.10000000000000001 +vqf_magRefTau = 20.0 +vqf_magRejectionFactor = 2.0 +vqf_motionBiasEstEnabled = true +vqf_restBiasEstEnabled = true +vqf_restFilterTau = 0.5 +vqf_restMinT = 1.5 +vqf_restThAcc = 0.5 +vqf_restThGyr = 2.0 +vqf_tauAcc = 0.5 +vqf_tauMag = 9.0 +vqf_useMagnetometer = false + +[consistency] +num_constistency_iter = 10 +use_mutliple_gaussian = false + +[filter_points] +decimation = 0.01 +filter_threshold_xy_inner = 1.0 +filter_threshold_xy_outer = 70.0 +min_counter_concatenated_trajectory_nodes = 10 +threshould_output_filter = 1.5 + +[imu_preintegration] +imu_preintegration_method = 6 +use_imu_preintegration = false + +[in_out_params_indoor] +bounding_box_extension = 0.0 +bounding_box_max_X = 0.0 +bounding_box_max_Y = 0.0 +bounding_box_max_Z = 0.0 +bounding_box_min_X = 0.0 +bounding_box_min_Y = 0.0 +bounding_box_min_Z = 0.0 +number_of_buckets = 0 +number_of_buckets_X = 0 +number_of_buckets_Y = 0 +number_of_buckets_Z = 0 +resolution_X = 0.10000000000000001 +resolution_Y = 0.10000000000000001 +resolution_Z = 0.10000000000000001 + +[in_out_params_outdoor] +bounding_box_extension = 0.0 +bounding_box_max_X = 0.0 +bounding_box_max_Y = 0.0 +bounding_box_max_Z = 0.0 +bounding_box_min_X = 0.0 +bounding_box_min_Y = 0.0 +bounding_box_min_Z = 0.0 +number_of_buckets = 0 +number_of_buckets_X = 0 +number_of_buckets_Y = 0 +number_of_buckets_Z = 0 +resolution_X = 0.29999999999999999 +resolution_Y = 0.29999999999999999 +resolution_Z = 0.29999999999999999 + +[lidar_odometry_control] +convergence_delta_threshold = 9.9999999999999998e-13 +max_distance_lidar = 70.0 +nr_iter = 500 +sliding_window_trajectory_length_threshold = 10000.0 +threshold_initial_points = 10000 +threshold_nr_poses = 20 +use_motion_from_previous_step = true + +[lidar_odometry_debug_info] +calibration_validation_points = 1000000 +save_calibration_validation = false + +[misc] +clear_color = [ 0.44999998807907104, 0.55000001192092896, 0.60000002384185791, 1.0 ] + +[motion_model_correction] +motion_model_correction_fi = 0.0 +motion_model_correction_ka = 0.0 +motion_model_correction_om = 0.0 + +[motion_model_first_node_prior_uncertainty] +lidar_odometry_motion_model_fix_origin_fi_1_sigma_deg = 9.9999999999999995e-07 +lidar_odometry_motion_model_fix_origin_ka_1_sigma_deg = 9.9999999999999995e-07 +lidar_odometry_motion_model_fix_origin_om_1_sigma_deg = 9.9999999999999995e-07 +lidar_odometry_motion_model_fix_origin_x_1_sigma_m = 9.9999999999999995e-07 +lidar_odometry_motion_model_fix_origin_y_1_sigma_m = 9.9999999999999995e-07 +lidar_odometry_motion_model_fix_origin_z_1_sigma_m = 9.9999999999999995e-07 + +[motion_model_uncertainty] +lidar_odometry_motion_model_fi_1_sigma_deg = 0.01 +lidar_odometry_motion_model_ka_1_sigma_deg = 0.01 +lidar_odometry_motion_model_om_1_sigma_deg = 0.01 +lidar_odometry_motion_model_x_1_sigma_m = 0.00050000000000000001 +lidar_odometry_motion_model_y_1_sigma_m = 0.00050000000000000001 +lidar_odometry_motion_model_z_1_sigma_m = 0.00050000000000000001 + +[paths] +current_output_dir = '' +working_directory_preview = '/Users/michal/Documents/mandeye_splats/dane/skany/new_calib/dataset_wschodu_fbow/preview' + +[performance] +real_time_threshold_seconds = 10.0 +useMultithread = true + +[robust_lidar_odometry] +azimutal_angle_deg = 10.0 +azimutal_angle_deg_rigid_sf = 10.0 +distance_bucket = 0.20000000000000001 +distance_bucket_rigid_sf = 0.5 +max_distance_lidar_rigid_sf = 70.0 +polar_angle_deg = 10.0 +polar_angle_deg_rigid_sf = 10.0 +rgd_sf_sigma_fi_deg = 0.01 +rgd_sf_sigma_ka_deg = 0.01 +rgd_sf_sigma_om_deg = 0.01 +rgd_sf_sigma_x_m = 0.001 +rgd_sf_sigma_y_m = 0.001 +rgd_sf_sigma_z_m = 0.001 +robust_and_accurate_lidar_odometry_iterations = 20 +robust_and_accurate_lidar_odometry_rigid_sf_iterations = 30 +use_robust_and_accurate_lidar_odometry = false \ No newline at end of file diff --git a/lio_result_0/HDMapping_results_v0.104.0_2026-09-05_17-15.json b/lio_result_0/HDMapping_results_v0.104.0_2026-09-05_17-15.json new file mode 100644 index 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