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Welcome to the StaticMapping wiki

We have some basic informations in the README page, so in this page, we will just focus on the parameters, since we have so many configurations in this project.

Important parameters

• accumulate_cloud_num: accumulate several point clouds into one, usually your "One pointcloud frame" should be 360 degree, then you just set this to 1. I use the lidar packet directly so I set this to 151. If you get this parameter wrong, you'll never make it to a right map.
• motion_compensation_options: if your pointcloud is distorted, it is recommended for you to enable this option.