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wh200720041 / floam

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
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vertical_angle ? #31

Closed cristianrubioa closed 3 years ago

cristianrubioa commented 3 years ago

Hi :)

vertical_angle refers to the vertical resolution of the sensor?

<param name="vertical_angle" type="double" value="2.0" />

and if so, wouldn't the value be incorrect? for Velodyne HDL-64E sensor used in KITTI.

wh200720041 commented 3 years ago

Hi @cristianrubioa :

The vertical angle is reserved for other type of 3D LiDAR. It is not used in the source code if you are using velodyne LiDAR.

cristianrubioa commented 3 years ago

@wh200720041

To adjust the method to other types of LiDAR, the procedure would be to modify 'laserProcessingClass.cpp' in this case. The 'N_SCANS' and the values for 'scanID' respective to the LiDAR sensor in the same way as its close relatives like A-LOAM

There is one more segment to modify?, Thanks

wh200720041 commented 3 years ago

Hi @cristianrubioa :

Yes you only need to edit the code in 'laserprocessingclass.cpp' and change scanID.