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daobilige-su / loam_velodyne

Laser Odometry And Mapping (LOAM) SLAM ROS package for 3D Velodyne VLP-16 laser scanner
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Tuning parameters for loam #1

Open desmosedic opened 7 years ago

desmosedic commented 7 years ago

@daobilige-su Wondering what are the parameters we can tune to fix the known issue you mentioned. Also, I am trying to reduce the effect the dynamic obstacles in the map. Wondering what are the parameters to tune for this.

daobilige-su commented 7 years ago

@desmosedic Sry for late reply due to my travelling overseas. Unfortunately, there are quite many thing/params (e.g. threshold for determining convergence of LM algo) affecting the result and I don't have time to try this until maybe Feb, 2017.

Hopefully other people can see this issue and come up with any idea.

sholtodouglas commented 7 years ago

Hi @daobilige-su and @desmosedic it seems the software uses a different coordinates frame to my input data, but when I rotate my input data LOAM seems to cut off much of the data and go weird, where (on which topics / where in the code) would you guys reccomend applying quaternions to rotate the point cloud so that mapping works correctly? Cheers, Sholto

Luoada commented 7 years ago

@desmosedic @daobilige-su Hi, I am a student masters student. Recently found this wonderful project o GitHub. I ran the project, but I have some problem. In the nsh_indoor_outdoor.bag, what I get is awful than the picture you give. lm-nan

Please help! Many thanks in advance!

ielhmps7796 commented 6 years ago

@Luoada Hi,I met this problem too and i don't know how to fix it.Do you solve this problem?Any reply will be appreciated, thx.