fix(config): config file exactly we run in paper.

Author: Kin-Zhang

README.md

@@ -5,10 +5,12 @@
 [![arXiv](https://img.shields.io/badge/arXiv-2403.01449-b31b1b?logo=arxiv&logoColor=white)](https://arxiv.org/abs/2403.01449)
 [![page](https://img.shields.io/badge/Web-Page-green)](https://KTH-RPL.github.io/dufomap) [video coming soon] [poster coming soon]. Accepted by RA-L'24.
 
-Quick Demo: Run with the **same parameter setting** without tuning for different sensor (e.g 16, 32, 64, and 128 channel LiDAR and Livox-series mid360), the following shows the data collected from: Leica-RTC360, 128-channel LiDAR and Livox-mid360 effect.
+Quick Demo: Run with the **same parameter setting** without tuning for different sensor (e.g 16, 32, 64, and 128 channel LiDAR and Livox-series mid360), the following shows the data collected from:
 
-| ![](assets/imgs/dufomap_leica.gif) | ![](assets/imgs/doals_train_128.gif) | ![](assets/imgs/two_floor_mid360.gif) |
+| Leica-RTC360 | 128-channel LiDAR | Livox-mid360 |
 | ------- | ------- | ------- |
+| ![](assets/imgs/dufomap_leica.gif) | ![](assets/imgs/doals_train_128.gif) | ![](assets/imgs/two_floor_mid360.gif) |
+<!-- | ------- | ------- | ------- | -->
 
 ## 0. Setup
 

assets/config.toml

@@ -10,10 +10,10 @@ inflate_hits_dist = 0.2     # d_s in the paper, default 0.2
 
 [integration]
 inflate_unknown_compensation = true
+ray_passthrough_hits = false
 down_sampling_method = "center"       # ["none", "center", "centroid", "uniform"]
 max_range = -1                        # Maximum range to integrate
 only_valid = false                    # Only do ray casting for points within 'max_range'
-discretize = true
 hit_depth = 0                         # Level of the octree to integrate hits
 miss_depth = 0                        # Level of the octree to integrate misses
 ray_casting_depth = 0                 # Level of the octree to perform ray casting

dufomap.cpp

@@ -356,7 +356,7 @@ int main(int argc, char* argv[])
 		}
 	}
 	std::ranges::sort(pcds);
-
+	// std::cout << config << std::endl;
 	pcds.resize(std::min(pcds.size(), config.dataset.num));
 
 	ufo::Timing timing;