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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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Initial Pose #159

Closed michellevalente closed 4 years ago

michellevalente commented 4 years ago

Is there any way we can provide an initial pose to the method? Thank you in advance for the help!

TixiaoShan commented 4 years ago

@michellevalente Yes, check the function here

Assign your initial pose to transformSum[]. The order is pitch, yaw, roll, y, z, x in standard ROS frame.

Leedk3 commented 3 years ago

Hi Shan, When I tried changing transformSum[] in the code, map building became worse. Should I change other things more in the code?

The initial pose did not start from origin pose as I wanted, however, the result was like this. If I remove "transformSum[]" things what I added, the result was no problem.

I found that if I set the initial pose far from the origin, map drifting was being more. In my case, when I set like this, it works: transformSum[3] = 10 transformSum[5] = 10

However, when I set like far from the origin like this, it does not work: transformSum[3] = 100 transformSum[5] = 100

result