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关于大场景空旷场地点云livox_loam时经常里程计中断更新
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foolishfish
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Time: 2023-4-25 10:47:35
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Posted on 2023-4-25 10:47:35
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我用Mid-70对某大场景场地进行点云直采，并离线进行slam，发现里程计在某些时间会与实际路线不同，严重的里程计位置更新停止，导致建图中止。有些短时间采集的点云就不会有这些问题。请问这是什么原因？我应该怎么解决？
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Posted on 2023-4-25 10:56:56
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还有一个问题，可不可以将一个长度较长（时间近1小时）的bag截取其中某一段进行slam建图呢？如果这么做会存在什么问题
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Posted on 2023-6-16 14:57:04
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针对这种情况可以尝试调整代码中的max_fov来增大视角，livox_loam是使用mid40设计的，所以视角设置的小一些，设置的是17，对于mid-70可以增大到30，最大35.对于某些比较狭窄的场景视角过大反而不好
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关于大场景空旷场地点云livox_loam时经常里程计中断更新
对于livox系列雷达点云数据内的(0,0,0)数据的疑问
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Posted on 2023-4-25 10:47:35
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