Open naveenkumar2208 opened 12 months ago
Hello @LarryDong ! I would like to use the Livox MID 360 and Livox Hap, were you happy with the results obtained with Lego-LOAM ? Did you use the internal IMU of the MID360 ? And of course if you have to time to share a few explanation on the modifications that would be awesome ! =)
Hello @LarryDong ! I would like to use the Livox MID 360 and Livox Hap, were you happy with the results obtained with Lego-LOAM ? Did you use the internal IMU of the MID360 ? And of course if you have to time to share a few explanation on the modifications that would be awesome ! =)
Hi, my suggestion is not to use mid360. Here are some findings:
CustomMsg
into ros PointCloud2 with XYZ+Ring
https://github.com/hust-ddc-slam/mid360-utils/tree/main/msg_converter) . However, mid360's vertical FoV is small (below the horizontal plan) so there are only 2-5 "equivalent" scans on the ground, making the ground segmentation really difficult; Tilted installation seems no help because the ground segmentation based on lego-loam is not suitable. Maybe you could install the lidar up side down (but I never tried) to make more ground points if the surronding scene is not so important. So in all, do not try to use mid360 if possible :< For Livox Hap, no test.
Good luck.
Hi, can you provide more detials? I'm using mid360 and meet some problems. I'm not sure if we have the same issue. Thanks.