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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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unable to reproduce experimental results #28

Closed wlt027 closed 4 years ago

wlt027 commented 4 years ago

Hi,Thanks for your open source.I test the new code on Ubuntu16.04 && ROS Kinetic.But I cannot reproduce experimental results using the example data——loop-simple.bag. Here are some screen shots. a)loop close error Selection_006

b)big delay Selection_005

c)ceres-solver optimization error Selection_004

Any suggestions?

ziv-lin commented 4 years ago

What kind of PCL version did you use? Recently, I find out that the point cloud output form the voxelgrid filter vary form PCL 1.7 and 1.9, and PCL 1.7 leads some failure in some of our examples. In a words, if your use PCL 1.7, I strongly recommend you update your PCL as 1.9.

wlt027 commented 4 years ago

After update my PCL as 1.9.1,problem solves.Thanks.

ziv-lin commented 4 years ago

Thanks for your issue, I have to update the readme now.