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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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Has someone succeeded in runing LeGO-LOAM with the RS-Bpearl of RoboSense? #216

Closed nonlinear1 closed 3 years ago

nonlinear1 commented 3 years ago

I use RS-Bpearl of RoboSense to run LeGO-LOAM, But I failed! The ROS give me the following message: 492797550

199030378 the parameters of RS-Bpearl are as follows: lines :32 Horizontal FoV: 360 degree Vertical FoV :90 degress Horizontal Resolution: 0.2 degree Vertical Resolutiion: 2.81 degree in utility.h I give the RS-BPearl parameters are as follows: //RS-BPearl 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 = 2.90;//2.81 extern const float ang_bottom = 90; extern const int groundScanInd = 0; Does someone know how to change the LeGO-LOAM and get the right results? Thank you very much!

nonlinear1 commented 3 years ago

I have solved this problem

arjunskumar commented 2 years ago

@nonlinear1 How did you solve the problem ?

Kilam3811 commented 2 years ago

Same issue here, may I ask how did you solve it? @nonlinear1 Thanks :)

nonlinear1 commented 2 years ago

you should filter the nan value of robot sense

在 2022-02-22 22:03:53，Kilam3811 @.***> 写道：

Same issue here, may I ask how did you solve it? @nonlinear1 Thanks :)

— Reply to this email directly, view it on GitHub, or unsubscribe. Triage notifications on the go with GitHub Mobile for iOS or Android. You are receiving this because you were mentioned.Message ID: @.***>

arjunskumar commented 2 years ago

@nonlinear1 i was able to solve the issue. Thanks

Kilam3811 commented 2 years ago

@nonlinear1 Thanks for your reply, was able to solve it, thanks 👍

lancelonginus commented 11 months ago

I use the same type, how did you solve it？