how to get a dense map

[zorosmith]

Hello, I want to get a dense map so I modify values in these files. However, the map is not as dense as those of other schemes(aloam, lego-loam).

In map_builder_node.cc, I reset the value as following, MapBuilderConfig config; config.map_filter_size = 0.01

In MapBuilder.h, I reset values as following, 'struct MapBuilderConfig { float corner_filter_size = 0.01; float surf_filter_size = 0.01; float map_filter_size = 0.6;

float min_match_sq_dis = 1.0; float min_plane_dis = 0.2; };'

In Estimator.h, I reset values as following, float corner_filter_size = 0.01; float surf_filter_size = 0.01; float map_filter_size = 0.01;

I guess there are 2 reasons.

1. I miss some parameters.
2. The raw point cloud is over-segmentation so that a small number points make up the map. Could you give me some help? Thank you!

[hyye]

For a dense map, I suggest to record the data and refer to https://github.com/hyye/lio-mapping/issues/9#issuecomment-505382679 to build a map.