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gogojjh / M-LOAM

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
http://gofile.me/4jm56/zU2yvg3bH
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如何使用两个雷达运行mloam. #15

Closed shikeqin123 closed 3 years ago

shikeqin123 commented 3 years ago

作者你好，这个工作很出色，但我在使用两个雷达进行实验时出现了问题，程序虽然能够运行，但是rviz无地图出现，因此我想请教一下如何使用两个雷达运行mloam.

根据mloam_handheld.launch的内容，我提供了 /right/velodyne_points /left/velodyne_points 两个点云topic, 然后执行roslaunch mloam_handheld.launch和rviz -d mloam.rviz. 结果却没有任何东西显示。

我需要做什么来正确运行程序？另外，m-loam应该并不需要IMU的topic吧？还是说使用bag和实时使用雷达数据有所区别呢？

gogojjh commented 3 years ago

Hi, thanks for your comment. I suggesting following the README and using the script to run m-loam: ``python2 run_mloam.py -program=single_test -sequence=RHD -start_idx=0 -end_idx=2''

And then opening ``mloam_indoor.rviz'' for visualization. IMU is not needed.

shikeqin123 commented 3 years ago

mloam I use your dataset, mloam can work, but when I use my own two vlp-16 to collect data in the room, and then run mloam failed, as shown in the figure. I can use LEGO loam and loam successfully in this room. I don't know whether I need to pre calibrate or modify some parameters?

gogojjh commented 3 years ago

sure, you need to modify the extrinsics in the YAML file.