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koide3 / hdl_localization

Real-time 3D localization using a (velodyne) 3D LIDAR
BSD 2-Clause "Simplified" License
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Can't align pointcloud with the prior map #20

Closed Yukina1996 closed 4 years ago

Yukina1996 commented 4 years ago

image I tried the data that auhor give. But the result is bad, the point cloud can't align well with the prior map. I don't understang why this could happen.

koide3 commented 4 years ago

Hi @Yukina1996 , Could you try to slow down the playback speed to see if it's a matter of the processing speed? like:

rosbag play --clock -r 0.2 hdl_400.bag
Yukina1996 commented 4 years ago

thank you so much. The result seems very nice. image