保存的文件太小

[inkccc]

我通过播放我录制的bag进行建图 我的bag有16G左右 无论我怎么修改参数 最终保存的图只会在30M-40M 请问我有什么办法能让地图更大 更清晰一点吗 以下是我的avia.yaml 和camera_pinhole.yaml

/**:
  ros__parameters:
    common:
      img_topic: "/image_raw"
      # img_topic: "/camera/color/image_raw"
      # img_topic: "/left_camera/image"
      lid_topic: "/livox/lidar"
      imu_topic: "/livox/imu"
      # imu_topic:  "/wit/imu"
      img_en: 1
      lidar_en: 1
      ros_driver_bug_fix: false

    # extrin_calib:
    #   extrinsic_T: [0.04165, 0.02326, -0.0284]
    #   extrinsic_R: [1.0, 0.0, 0.0,
    #                 0.0, 1.0, 0.0,
    #                 0.0, 0.0, 1.0]
    #   Rcl: [0.00610193,-0.999863,-0.0154172,
    #         -0.00615449,0.0153796,-0.999863,
    #         0.999962,0.00619598,-0.0060598] 
    #   Pcl: [0.0194384, 0.104689,-0.0251952]

    extrin_calib:
      extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
      extrinsic_R: [1.0, 0.0, 0.0,
                    0.0, 1.0, 0.0,
                    0.0, 0.0, 1.0]

      #w v1
      # extrinsic_T: [0.02780671, 0.07017216, 0.04412]
      # extrinsic_R: [ 0.99991335,  0.00835057, -0.01017637,
      #                 -0.00822804,  0.99989386,  0.01202334,
      #                 0.01027569, -0.01193856,  0.99987593]

      #d v1
      # Rcl: [ -0.060448,  -0.997834,  -0.025936,
      #   0.019866,   0.024776,  -0.999496,
      #   0.997974,  -0.060933,   0.018325]
      # Pcl: [  0.155799,  -0.082520,  -0.038665]

      #d v2
      # Rcl: [  0.094453,  -0.995108,  -0.028953,
      #   0.017131,   0.030703,  -0.999382,
      #   0.995382,   0.093899,   0.019948]
      # Pcl: [ -0.158132,  -0.080027,  -0.037986]

      #h v1
      Rcl: [  0.011727,  -0.999914,  -0.005856,
       -0.016208,   0.005665,  -0.999853,
        0.999800,   0.011820,  -0.016140]
      Pcl: [  0.092275,   0.001382,  -0.017606]



    time_offset: 
      imu_time_offset: 0.0
      img_time_offset: 0.1
      exposure_time_init: 0.0

    preprocess:
      point_filter_num: 1
      filter_size_surf: 0.2						##########
      lidar_type: 1 # Livox Avia LiDAR
      scan_line: 4
      blind: 0.1							##########

    vio:
      max_iterations: 5
      outlier_threshold: 1000 # 1000 # 78 100 156 #100 200 500 700 infinite
      img_point_cov: 100 # 100 1000 
      patch_size: 6 # 8
      patch_pyrimid_level: 3 # 4
      normal_en: true
      raycast_en: false
      inverse_composition_en: false
      exposure_estimate_en: false
      inv_expo_cov: 0.1

    imu:
      imu_en: true
      imu_int_frame: 30
      acc_cov: 0.5 # 0.2
      gyr_cov: 0.3 # 0.5
      b_acc_cov: 0.0001 # 0.1
      b_gyr_cov: 0.0001 # 0.1

    lio:
      max_iterations: 5
      dept_err: 0.02
      beam_err: 0.05
      min_eigen_value: 0.0025 # 0.005
      voxel_size: 0.2							##########
      max_layer: 2
      max_points_num: 5000
      layer_init_num: [5, 5, 5, 5, 5]

    local_map:  
      map_sliding_en: false
      half_map_size: 100
      sliding_thresh: 8.0

    uav:
      imu_rate_odom: false
      gravity_align_en: true

    publish:
      dense_map_en: true
      pub_effect_point_en: false 
      pub_plane_en: false
      pub_scan_num: 1
      blind_rgb_points: 0.0

    evo:
      seq_name: "lab"
      pose_output_en: false

    pcd_save:
      pcd_save_en: true
      colmap_output_en: false # need to set interval = -1
      filter_size_pcd: 0.1						##########
      interval: 10
      # how many LiDAR frames saved in each pcd file;
      # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

/**:
  ros__parameters:
    camera:
      model: Pinhole
      # hik v1
      width: 1440
      height: 1080
      scale: 1.0
      fx: 2341.35
      fy: 2345.88
      cx: 674.705
      cy: 558.841
      d0: -0.195841
      d1: 1.80319
      d2: 4.016e-05
      d3: -0.00066224