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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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How can this loam build a completed map? #154

Open jjrCN opened 4 years ago

jjrCN commented 4 years ago

The finial output topic of the loam is "/laser_cloud_surround", but it is not a completed result of the input dag. The points in "/laser_cloud_surround" is only the nearest part of the intput lidar points. As the code below which is from the function "bool BasicLaserMapping::createDownsizedMap()", the points in "/laser_cloud_surround" is cleared every time. // accumulate map cloud _laserCloudSurround->clear(); for (auto ind : _laserCloudSurroundInd) { _laserCloudSurround += _laserCloudCornerArray[ind]; _laserCloudSurround += _laserCloudSurfArray[ind]; }

so, how can build a full and completed map?

he-guo commented 4 years ago

hello，have you solved this problem, I also encountered the same problem.