eigenratio

Author: Zale-Liu

BALM-old/launch/balm_horizon_outdoor.launch renamed to BALM-old/launch/balm_horizon_outdoor.launch1

@@ -180,6 +180,11 @@ int main(int argc, char **argv)
   { 
     unordered_map<VOXEL_LOC, OCTO_TREE_ROOT*> surf_map;
 
+    eigen_value_array[0] = 1.0 / 16;
+    eigen_value_array[1] = 1.0 / 16;
+    eigen_value_array[2] = 1.0 / 9;
+
+
     for(int i=0; i<win_size; i++)
       cut_voxel(surf_map, *pl_fulls[i], x_buf[i], i);