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NeBula-Autonomy / LOCUS

Robust Lidar Odometry System
MIT License
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MDC module problem #56

Closed linwk20 closed 2 years ago

linwk20 commented 2 years ago

Hi, Thanks for sharing this great work! I am now trying to use LOCUS on my own Lidar dataset. However, as said in the repo, there is no MDC module provided. I want to know if I just add a deskew module from another repo, can I fix this problem? Or is there anything else to take care of?

Thanks!

BenjaminMorrell commented 2 years ago

Thanks for using the repo!

Yeah, that would be one way to approach it - if you find another good deskewing module it would be great if you could post a link here for the benefit of others.

Another consideration is that if your system is moving relatively slowly (in linear and rotational velocities), then just using the point-clouds as they are might be ok.

@femust - have you looked at what it would take to release our velodyne driver MDC?

linwk20 commented 2 years ago

It seems LIO-SAM 's imageProjection.cpp unit can be applied easily. I will try, thanks for your quick reply!

https://github.com/TixiaoShan/LIO-SAM

BenjaminMorrell commented 2 years ago

Great! Let us know how you go!