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FAST-LIO 1 updated

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weiBUAA
2021-01-14 15:33:31 +08:00
parent fc3f451f2a
commit 487dcb01cb
9 changed files with 875 additions and 466 deletions
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6
launch/mapping_avia.launch
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@@ -20,12 +20,12 @@
<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="4"/>
<param name="point_filter_num" type="int" value="1"/>
<node pkg="fast_lio" type="loam_feat_extract" name="feature_extract" output="screen"/>
<node pkg="fast_lio" type="loam_laserMapping" name="laserMapping" output="screen">
<node pkg="fast_lio" type="loam_laserMapping" name="laserMapping" output="screen" required="true">
<param name="map_file_path" type="string" value=" " />
<param name="max_iteration" type="int" value="2" />
<param name="max_iteration" type="int" value="10" />
<param name="dense_map_enable" type="bool" value="true" />
<param name="fov_degree" type="double" value="75" />
<param name="filter_size_corner" type="double" value="0.3" />

10
launch/mapping_avia_outdoor.launch
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@@ -20,22 +20,22 @@
<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="3"/>
<param name="point_filter_num" type="int" value="1"/>
<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="10" />
<param name="dense_map_enable" type="bool" value="true" />
<param name="fov_degree" type="double" value="80" />
<param name="fov_degree" type="double" value="70" />
<param name="filter_size_corner" type="double" value="0.5" />
<param name="filter_size_surf" type="double" value="0.4" />
<param name="filter_size_map" type="double" value="0.5" />
<param name="filter_size_map" type="double" value="0.4" />
<param name="cube_side_length" type="double" value="50" />
</node>
<group if="$(arg rviz)">
<!-- <group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
</group>
</group> -->
</launch>