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TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
BSD 3-Clause "New" or "Revised" License
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Help with ground_constraint #74

Closed hitbg-yjm closed 4 years ago

hitbg-yjm commented 4 years ago

I want to add ground_constraint like lego_loam,I extracted the ground(in surfPointsFlat),and get a lidar_odom. Than I passed the lidar_odom to mapOptmization.cpp ,final I transform the lidar_odom increment to map and add the increment to pose in z(transformTobeMapped[5]).The increment transformed to map in z is close to zero.But in my datasets , ground_constraint can't perform well like lego_loam. Do I miss some step ? Or is my direction wrong? Do you have some suggestions for this?

TixiaoShan commented 4 years ago

Your approach sounds about right. What's the problem with your implementation? Is it not accurate?

hitbg-yjm commented 4 years ago

Maybe,I will check the code. Thanks for your response. A related question，three points will affect the results: 1.init guess 2.input clouds 3.Optimization Ground_constraint in lego_loam belongs to 1 ,right?