Closed vijaygovindappa closed 4 years ago
My LiDAR is VLP32-E running at 16hz and IMu is running at 50 hz.
Try this configuration in utility.h
// VLP-32c
extern const int N_SCAN = 32;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 40.0/float(N_SCAN-1);
extern const float ang_bottom = 25.0;
extern const int groundScanInd = 20;
Works pretty well for me with impressively accurate loop closing.
Note: I assume you meant VLP-32c
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Hi All, First of all, you all have doen amazing job. From the video the results looks really good. Apologies, if my questions are silly, i am new to SLAM. I am trying to run on my own rosbag data and results doesnot look great. I believe it is because of the IMU. I have 2 questions.
Waiting for your reply.
Thank you