tiger20 / loam-multi-thread Goto Github PK
View Code? Open in Web Editor NEWAdjust the original LOAM to a multi-threaded version which doesn't require ROS.
Adjust the original LOAM to a multi-threaded version which doesn't require ROS.
您好,我发现您在main函数中读取数据集的时候,数据集的格式是pcd格式。但我发现LOAM官方的nsh_indoor并不是这个格式,想问下,这个是您用rosbag转的吗?若想用您的代码跑Kitti的数据集,是不是也需要将bin格式转成pcd格式?
Hi, and thanks for making this code available. I am running it on a pcap file from a Velodyne scanner, and it will run very well for the first 300 frames or so.
Then, the map 'clips', and the odometry spirals, giving me a very incorrect result. Please see the images below to show what I mean. What can I look at to fix this?
Thanks again!
Working:
After map clipping:
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