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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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Final Map Size #138

Closed Dinatorehanova closed 4 years ago

Dinatorehanova commented 4 years ago

Hi @TixiaoShan

The final map in the form of .pcd generated by ctrl+c is very short in size and also it misses most of the features. Anyway to update it or its quality/size ?

Thanks

TixiaoShan commented 4 years ago

Yes, you can change some parameters like extern const float globalMapVisualizationSearchRadius = 500.0; to increase visualization range. Also, you can change downSizeFilter() resolution to get a finer map.