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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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Map optimization process died when launching lego loam #92

Closed Dinatorehanova closed 5 years ago

Dinatorehanova commented 5 years ago

Hi @TixiaoShan

Can you please have a look at the herewith attached picture ? image

How can I resolve this issue ?

Thanks

W-Liur commented 5 years ago

Have you solved it? I have the same problem.

Dinatorehanova commented 5 years ago

@W-Liur , No I have not solved it yet. I have tried to clone and do the catkin_make -j1 again but still with no success.Please, let me know if you have any update on this.

Thanks

W-Liur commented 5 years ago

Nor did I succeed.I'm trying the previous version, but it's a bit slow to download.

W-Liur commented 5 years ago

I have fixed it.You can reinstall gtsam.Maybe you need this version.https://pan.baidu.com/s/1wVwtAT-Q3uD2WZN9xoiMBg KEY:i64o

TixiaoShan commented 5 years ago

Looks like it's a GTSAM problem. Have you tried the version that is used in README?

Dinatorehanova commented 5 years ago

Hi, @TixiaoShan, Thank you very much for your kind reply. I tried to install the mentioned GTSAM and it works.But still there is

"0x2bf88d0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2557460) ): Attempt to set a screen on a child window."

image

Can you please tell me how to address this ? Also I would like to know whether there is any speed issue while using the LeGO-LOAM as it seems id does not provide any map or clear trajectory while using this tool for a high speed car with LiDAR mounted on it.

Thanks

TixiaoShan commented 5 years ago

I don't know this new issue. It doesn't look like a LeGO-LOAM issue. If the car speed is too high, there might be not enough overlaps between two scans, then LOAM will fail.

Dinatorehanova commented 5 years ago

Thank you @TixiaoShan .