add function computeCost file layer.h

2026-07-10 11:27:20 +07:00
parent 2fcd211ccf
commit a2a021c114
10 changed files with 1355 additions and 26 deletions
--- a/config/voxel_layer_params.yaml
+++ b/config/voxel_layer_params.yaml
@@ -8,4 +8,5 @@ voxel_layer:
  unknown_threshold: 15.0
  mark_threshold: 0
  combination_method: 1
-
+  frustum_clearing_enabled: true
+  frustum_clearing_pixel_step: 8