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HKUST-Aerial-Robotics / A-LOAM

Advanced implementation of LOAM
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Support for More Velodyne Models #25

Closed xmfcx closed 4 months ago

xmfcx commented 4 years ago

I have modified the code a bit to support non-uniform velodyne laser scanners such as VLP32 and VLS128.

Removed the scan_line parameter and added lidar_model parameter and it is handled in the scanRegistration.cpp for appropriate model.

The indices of rings are selected using the closest angle index from the angles_vertical vector.

For previously working VLP16, HDL32, HDL64, they are handled same as before.

It would be the best if the vertical angles of the laser scanners were read from a .yaml file but with minimal changes, it works for now.

xmfcx commented 4 months ago

For future users:

This PR works, you can use it as you like.

But it's been 4 years and I am closing my long waiting open PRs.