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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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After Loop Closure Point Cloud Resolution #78

Open nyinyinyanlin opened 3 years ago

nyinyinyanlin commented 3 years ago

I was able to close a loop but it seems after loop closure point cloud was not dense enough. Too much details were lost in pc_aft_loop_closure and if I zoom into the point cloud, features visible in raw point clouds cannot be found in after loop closure point cloud.

I have noticed points in pc_aft_loop_closure are arranged in a cube grid resolution. Is it possible to increase the density of the point cloud?

Thank you very much.