slam(一):A-loam

scanRegistration学习：

（1）滤除无效点云部分：

        scanRegistration.cpp文件，removeClosedPointCloud函数：

        下面的if舍去了过近和过远的点云

        if (cloud_in.points[i].x * cloud_in.points[i].x + cloud_in.points[i].y * cloud_in.points[i].y + cloud_in.points[i].z * cloud_in.points[i].z < thres * thres || 
            cloud_in.points[i].x * cloud_in.points[i].x + cloud_in.points[i].y * cloud_in.points[i].y + cloud_in.points[i].z * cloud_in.points[i].z > 750
        )
            continue;   // 距离太近了就舍去    || 后面是距离太远了舍去的，默认值为400，这里改成750--hxz

报错相关

报错：QObject::~QObject: Timers cannot be stopped from another thread

解决方案：重新编译opencv，将选项WITHOUT_QT设为True

        参考：github issue。

参考链接：ORB-SLAM2:QObject::~QObject: Timers cannot be stopped from another thread_Yan-CSDN博客

https://github.com/raulmur/ORB_SLAM2/issues/418

@meng