search

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
2.36k stars 1.11k forks source link

Considerable speed improvement #106

Closed facontidavide closed 5 years ago

facontidavide commented 5 years ago

These are changes that were submitted and accepted by the original LOAM.

You will see a great speed improvement (that according to your paper, seems to be an important factor for you).

For reference:

https://github.com/laboshinl/loam_velodyne/pull/26

https://github.com/laboshinl/loam_velodyne/pull/24

facontidavide commented 5 years ago

As discussed in #105, I checked and apparently it does not affect the accuracy of localization.

facontidavide commented 5 years ago

Closing this, because similar improvement should be done on top of this branch https://github.com/facontidavide/LeGO-LOAM/tree/single_process