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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
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When I run this method with my collected livox mid-40 data, the track is always at the starting point #106

Open Dou-1996 opened 2 years ago

Dou-1996 commented 2 years ago

When I run this method with my collected livox mid-40 data, the track is always at the starting point。 I successfully run my data in [livox_mapping] without any problems. Could it be a timestamp problem. The following is the log file that appears after running my data、

this is a part of log_scanRegistration.log

Time: 1637588520.30605, num_raw: 10000, num_filted: 10000 Time: 1637588520.30605, num_raw: 10000, num_filted: 10000 Time: 1637588520.30605, num_raw: 10000, num_filted: 10000 Time: 1637588520.61262, num_raw: 10000, num_filted: 10000 Time: 1637588520.70515, num_raw: 10000, num_filted: 10000 Time: 1637588520.70515, num_raw: 10000, num_filted: 10000 Time: 1637588520.70515, num_raw: 10000, num_filted: 10000 Time: 1637588521.01172, num_raw: 10000, num_filted: 10000 Time: 1637588521.10434, num_raw: 10000, num_filted: 10000 Time: 1637588521.10434, num_raw: 10000, num_filted: 10000 Time: 1637588521.10434, num_raw: 10000, num_filted: 10000 Time: 1637588521.41079, num_raw: 10000, num_filted: 10000 Time: 1637588521.50329, num_raw: 10000, num_filted: 10000 Time: 1637588521.50329, num_raw: 10000, num_filted: 10000 Time: 1637588521.50329, num_raw: 10000, num_filted: 10000

And this is a part of log_mapping.log

Messgage time stamp = 0

Messgage time stamp = 0.000314951 New added regtime 10000

Messgage time stamp = 0.000650644 New added regtime 10000 older update, reject update pose

Messgage time stamp = 0.0185592 New added regtime 10000 older update, reject update pose

Messgage time stamp = 0.01878 New added regtime 10000 older update, reject update pose

Messgage time stamp = 0.0189171 New added regtime 10000 older update, reject update pose

Messgage time stamp = 0.0313182 New added regtime 10000 older update, reject update pose

Messgage time stamp = 0.0314946 New added regtime 10000 older update, reject update pose

Messgage time stamp = 0.0317316 New added regtime 10000 older update, reject update pose

New added regtime 10000 older update, reject update pose Messgage time stamp = 0.241859

Messgage time stamp = 0.242165 New added regtime 10000 older update, reject update pose

Messgage time stamp = 0.242433 New added regtime 10000 older update, reject update pose

New added regtime 10000 older update, reject update pose Messgage time stamp = 0.351952

Messgage time stamp = 0.352166 New added regtime 10000 older update, reject update pose

Messgage time stamp = 0.352386 New added regtime 10000 older update, reject update pose

Dou-1996 commented 2 years ago

And I found the following problems. When running the example [mid40_hall_example. Bag] of [livox_mapping gihub(https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/Showcase/mid40_hall_example.bag) ] to turn, the track stops before turning. The result as follow: 图片

图片

ManChrys commented 1 year ago

Hello my friend!!

prolly you solved it, but in case anyone will face this problem is all about libraries. You have to install Ceres and PCL ( I think the main reason is PCL) correct from source. #122