always drift z direction

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

BSD 3-Clause "New" or "Revised" License

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always drift z direction #102

Closed sujiongming closed 4 years ago

sujiongming commented 5 years ago

I have tried some ways to solve this problem, but it doesn't works:

extern const bool loopClosureEnableFlag = true;(in utility.h)
if (abs(angle - sensorMountAngle) <= 20,40) (in imageProjection.cpp)

Is there any way to solve it?

mutou-2015 commented 5 years ago

hello, I also met this question. use_imu The robot walked around the park building. When the robot went to the back of the building, the map ran to the sky.

stale[bot] commented 5 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

PenghangF commented 3 years ago

I also met this question，have u resolved this finally?