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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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If I increase the frequency of imu, what should I adjust in program? #150

Closed carleft closed 4 years ago

carleft commented 4 years ago

There is a const int imuQueLength in the program, and It has a value of 200. If the frequency of my imu is 400Hz, Should I change it to 400 or more?

Thanks in advance!

TixiaoShan commented 4 years ago

You don't need to change anything. The imu queue length is to store the imu data during one scan. So you only need to change it when your imu frequency is over 2000Hz. Just make sure imuQueLength > imu-frequency / lidar-frequency

carleft commented 4 years ago

You don't need to change anything. The imu queue length is to store the imu data during one scan. So you only need to change it when your imu frequency is over 2000Hz. Just make sure `imuQueLength > imu-frequency / lidar-freque

OK , Thanks a lot~