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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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time Map corner and surf num are not enough? #16

Closed OceanWong1991 closed 4 years ago

OceanWong1991 commented 4 years ago

Hi, when I run "roslaunch loam_livox livox.launch " the terminal print

[ WARN] [1571727835.757896886]: time Map corner and surf num are not enough ****** min max timestamp = [29.464680, 29.512922] ****** map corner num 0 surf num 108 [ WARN] [1571727835.807914851]: time Map corner and surf num are not enough ****** min max timestamp = [29.512922, 29.558619] ****** map corner num 0 surf num 108 [ WARN] [1571727835.858688485]: time Map corner and surf num are not enough ****** min max timestamp = [29.558619, 29.609156] ****** map corner num 0 surf num 108 [ WARN] [1571727835.908180349]: time Map corner and surf num are not enough ^C****** min max timestamp = [29.609156, 29.669964] ****** map corner num 0 surf num 108 [ WARN] [1571727835.958653270]: time Map corner and surf num are not enough

Is that something wrong?

ziv-lin commented 4 years ago

The appearance of this warning indicates that the feature (edge features and planar feature) in your sampling scenarios are not sufficient, can you change the place of data sampling? We strongly recommend you to use this LiDAR on outdoor to avoid the case of degeneration.

OceanWong1991 commented 4 years ago

@ziv-lin Thx for your replay! I will try it