Drop lidar frame in mapping

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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Drop lidar frame in mapping #30

Closed Mr-Xavier closed 4 years ago

Mr-Xavier commented 4 years ago

Hi, thanks for your project. when I run "roslaunch loam_livox livox.launch", I get the warning like this: [ WARN] [1575016816.066039723]: Drop lidar frame in mapping for real time performance !!! Is that something wrong? Can you give me some advices?

Mr-Xavier commented 4 years ago

The effect of mapping is not ideal . rviz_screenshot_2019_11_29-16_52_26

ziv-lin commented 4 years ago

Sorry for replying to your issue so late since I am busying in working with my homework and exams recently. Form the preview show in rviz, I believe you are sampling the data with objects nearby you, and the feature (edge and plane feature) it too less to solve the relative pose well. Due to the saturation of receiver, mid40 has a bad measurement of sampling objects located nearby the LiDAR (like distant smaller than 5 meters), I suggest you test our algorithm in outdoor scenarios.