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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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About the rate factor of rosbag play #112

Closed HViktorTsoi closed 4 years ago

HViktorTsoi commented 5 years ago

Is there a implied condition that the rate(factor) of rosbag play must be 1?

When I tried to speed up the running time by using a rosbag play rate higer than 1 (e.g. -r=20), there is serious bias in the results, as shown in following figures.

image fig.1. rosbag play -r=1 (normal)

image fig.2. rosbag play -r=20 (wrong)

image fig.3. rosbag play -r=100 (wrong)

So is there a implied require that the rate of rosbag play should be 1? Or is there a way to increase the play rate without hurting the performance? Thanks a lot.

facontidavide commented 5 years ago

Short answer : yes, use rate 1

Long answer: not necessarily 1, but not 20 for sure.

The software is implemented with 3 individual nodes. You need to allow enough time to each node to perform its computation or some measurements will be "skipped".

This is strongly related to issue #107

Scrumantic commented 5 years ago

I've processed forestry acquired bags at 10x rate without problems. Although for my solution I limit the VLP16 range to 50 meters.

facontidavide commented 5 years ago

Hi.

I have solved this issue... doing a heavy refactoring of the code. Please refer to the comment in #107

stale[bot] commented 4 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.