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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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LeGO-LOAM for all frames #124

Closed jegor90 closed 4 years ago

jegor90 commented 5 years ago

Hello! I try to process all frames from sequence. Is it possible? What should i change in code to process every frame? Even not in real-time

ASajwan commented 5 years ago

I don't understand your question completely. Do you mean KITTI's 'sequence'? If yes, convert KITTI's sequence into a bag file and feed it to LeGO_LOAM like they do with the examples in the repository's readme file and it will process the entire sequence. Please correct me if I misunderstood your question.

jegor90 commented 5 years ago

Yes. I converted KITTI to rosbag. For example, there is 1000 frames (messages) with velodyne points. I print position (odomAftMapped.pose.pose.position.x, odomAftMapped.pose.pose.position.y, odomAftMapped.pose.pose.position.z) every time i generate it in publishTF . As result, i have about 400 lines only instead of 1000. If i play .bag file with -r 0.05 option, there is about 1200 lines in result file.

Maybe i need to change parameters?

extern const double mappingProcessInterval = 0.3;
extern const float scanPeriod = 0.1;
ASajwan commented 5 years ago

Oh, so it is using time inside ROS and not the timestamps from the point cloud. May be changing some timing parameters would help. Sorry, I have no idea.

stale[bot] commented 4 years ago

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