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How to use the FLOAM? #12

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Geralt-of-winterfall opened this issue Sep 6, 2024 · 1 comment
Open

How to use the FLOAM? #12

Geralt-of-winterfall opened this issue Sep 6, 2024 · 1 comment

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@Geralt-of-winterfall
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Geralt-of-winterfall commented Sep 6, 2024

Thank your contribution!
Now I have some problem of FLOAM.
I record a rosbag of spinning LIDAR (VLP:128).
How should I modified the source file like cpp or launch to obtain the pointcloud map.

感谢您的工作!
关于FLOAM我有一些问题想要咨询一下作者。
我录制了一个128线的激光bag。
该修改哪部分的源文件和launch文件,运行后能得到稠密的点云地图。

@AFEICHINA
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Thank your contribution! Now I have some problem of FLOAM. I record a rosbag of spinning LIDAR (VLP:128). How should I modified the source file like cpp or launch to obtain the pointcloud map.

感谢您的工作! 关于FLOAM我有一些问题想要咨询一下作者。 我录制了一个128线的激光bag。 该修改哪部分的源文件和launch文件,运行后能得到稠密的点云地图。

对于128线的雷达,需要修改特征提取中雷达线束分配的逻辑。不想改动的话建议使用DLO生成一个稠密的点云地图也行。

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