NeedForNoodles

> 请问您指的是 TUMX.yaml 中最后加的如下三个参数么？ 如果是的话，参数是有的，但还是不能先是稠密点云。请问可能会是什么原因呢？ PointCloudMapping.Resolution: 0.01 meank: 50 thresh: 2.0 修改这三个参数没用的。 它不显示，是因为始终点云处于更新，所以显示线程被阻塞了。 /src/pointcloudmapping.cc中39行附近。改成这样： PointCloudMapping::PointCloudMapping(double resolution_,double meank_,double thresh_) { this->resolution = resolution_; this->meank = meank; this->thresh = thresh_; statistical_filter.setMeanK(meank); statistical_filter.setStddevMulThresh(thresh);...