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add the scan rate parameter

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xw
2021-09-22 22:58:38 -04:00
parent d85c9eff50
commit 45aa82e4d6
5 changed files with 12 additions and 9 deletions
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src/laserMapping.cpp
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@@ -773,6 +773,7 @@ int main(int argc, char** argv)
nh.param<double>("preprocess/blind", p_pre->blind, 0.01);
nh.param<int>("preprocess/lidar_type", p_pre->lidar_type, AVIA);
nh.param<int>("preprocess/scan_line", p_pre->N_SCANS, 16);
nh.param<int>("preprocess/scan_rate", p_pre->SCAN_RATE, 10);
nh.param<int>("point_filter_num", p_pre->point_filter_num, 2);
nh.param<bool>("feature_extract_enable", p_pre->feature_enabled, false);
nh.param<bool>("runtime_pos_log_enable", runtime_pos_log, 0);