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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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How to set the parameter named "groundScanInd"? #169

Closed SubMishMar closed 4 years ago

SubMishMar commented 4 years ago

Hi, I am using a VLP-32 for my research, I am not sure how to set the parameter "groundScanInd"? Will be glad if someone can help me here.

TixiaoShan commented 4 years ago

It's a rough number of scan lines that will cover the ground. For example, VLP-16 has 16 channels. Assume 8 channels can cover the ground. So the number is set to be 7 (starting from 0).