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claydergc / loam_velodyne_kitti

loam velodyne tested with the KITTI dataset
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transplanted to windows #2

Open sume-cn opened 5 years ago

sume-cn commented 5 years ago

I've transplanted your project into vc2015, only one place need to be modified: nanoflann_pcl.h the definition of setInputCloud() need to be moved into declaration

however the output trajectory is deformed

I'm new to LOAM, hoping these may be useful to you: Using LeGO-LOAM on KITTI LOAM on KITTI 08

claydergc commented 5 years ago

Hello,

I got the same deformed trajectory as can be seen in the following picture:

Trajectory Comparison

I didn't modify anything from the algorithm in laboshinl's repository but something is going wrong.

Regards.

sume-cn commented 5 years ago

I'll try the original code, thanks a lot!

goldenminerlmg commented 5 years ago

Hello @claydergc Thanks for your nice work. Now I also test LOAM on kitti dataset but get bad result. Can you give a detailed description on the change between the origin code of LOAM and laboshini's?

ywyue commented 5 years ago

Hello, I am testing LOAM on Kitti dataset, but a confusing problem is how can I get the trajectory? Thanks for your help!

claydergc commented 5 years ago

@ywyue I have had some problems with this repo. You can find an updated version of this repo in https://github.com/claydergc/loam_velodyne_kitti_ros, which have returned good results with the KITTI Dataset.