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solve some bugs and increase the precission

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buaaxw@gmail.com
2020-11-12 14:52:34 +08:00
parent 1cc9cfe6e1
commit 47e9f27b14
5 changed files with 358 additions and 447 deletions
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6
launch/mapping_avia.launch
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@@ -20,18 +20,18 @@
<param name="edgeb" type="double" value="0.1"/>
<param name="smallp_intersect" type="double" value="172.5"/>
<param name="smallp_ratio" type="double" value="1.2"/>
<param name="point_filter_num" type="int" value="5"/>
<param name="point_filter_num" type="int" value="4"/>
<node pkg="fast_lio" type="loam_feat_extract" name="feature_extract" output="screen"/>
<node pkg="fast_lio" type="loam_laserMapping" name="laserMapping" output="screen">
<param name="map_file_path" type="string" value=" " />
<param name="max_iteration" type="int" value="2" />
<param name="dense_map_enable" type="bool" value="true" />
<param name="fov_degree" type="double" value="80" />
<param name="fov_degree" type="double" value="75" />
<param name="filter_size_corner" type="double" value="0.3" />
<param name="filter_size_surf" type="double" value="0.2" />
<param name="filter_size_map" type="double" value="0.2" />
<param name="cube_side_length" type="double" value="15" />
<param name="cube_side_length" type="double" value="10" />
</node>
<group if="$(arg rviz)">