The mapping result become sparse

laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

http://wiki.ros.org/loam_velodyne

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The mapping result become sparse #129

Open tuduku opened 5 years ago

tuduku commented 5 years ago

I have run the code and get a good result before But it seems that some wrong happen now.

The odometry jump to other plane sometimes 2019-04-01 14-47-05屏幕截图

And the Mapping result become sparse 2019-04-01 14-48-54屏幕截图

I cloned the new code and run according to README ,but it dose not work. I didn't find any wrong in the code.My computer is Intel Core i7-8th Gen CPU ,GTX1060 and I ran the code in Ubuntu 16.04 . I can get the true mapping result just several days ago. Please help me or give me a hint if it won't take you long,thanks.

Bzhnja commented 5 years ago

Have you compiled the ros workspace withcatkin_make -DCMAKE_BUILD_TYPE=Release ? The debug version and release version have distinct performance.

tuduku commented 5 years ago

Have you compiled the ros workspace withcatkin_make -DCMAKE_BUILD_TYPE=Release ? The debug version and release version have distinct performance.

thanks a lot! it works. and sorry for my careless.

geoeo commented 5 years ago

@tuduku What dataset are you using?