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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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What is the role of these parameters? #149

Closed Xu-Huitong closed 2 years ago

Xu-Huitong commented 2 years ago

What is the role of these parameters? param name="filter_size_corner" type="double" value="0.2" param name="filter_size_surf" type="double" value="0.2" param name="filter_size_map" type="double" value="0.5" "runtime_pos_log_enable" type="bool" value="1" "cube_side_length" type="double" value="2000"

rlabs-oss commented 2 years ago

The pointcloud is down sampled and corner and surface features are created as landmarks used during the ICP / scan registration - the filter_size_corner/surface is the volume for the detector(s) with the filter_size_map being the filter applied to the point cloud before insertion to the global map. - at least according to my understanding.