Comments (5)
我已经解决问题了,只要修改一下scantext.h中的参数PC_MAX_RADIUS就可以了,再次感谢您的工作
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请问在室外环境您是怎样调整的PC_MAX_RADIUS值? @zengy5
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请问在室外环境您是怎样调整的PC_MAX_RADIUS值? @zengy5
作者代码里scancontext只是用于搜索初始位姿用的,之后scancontext就没用了,所以实际上你需要知道你机器人大致的初始位姿距离地图原点多远,对应地修改最大搜索半径就行,或者也可以简单地把地图中最远点的距离设置为最大搜索半径 @maomao0220
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好的,谢谢您的回复。还有一个问题:您在跑室外环境的时候,有没有试过同一地方录两个不同的bag包(起始方向或者位置稍有不同),一个用于建图一个用于重定位?我在实验的时候总是重定位不成功,而且实车测试的时候只有在起点相同时才可以定位成功,一旦在任意其他位置就会重定位失败,找不到匹配位姿,期待您的回复
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好的,谢谢您的回复。还有一个问题:您在跑室外环境的时候,有没有试过同一地方录两个不同的bag包(起始方向或者位置稍有不同),一个用于建图一个用于重定位?我在实验的时候总是重定位不成功,而且实车测试的时候只有在起点相同时才可以定位成功,一旦在任意其他位置就会重定位失败,找不到匹配位姿,期待您的回复
我们具体做法确实是你说的这样,用bag1建图,用bag2定位,录制环境是同一个场地,起点是不同位置,每个定位bag都可以正常初始化成功。如果你的数据不能的话,考虑两点:
1、雷达是不是360°的,因为scancontext论文中是以360°雷达为例,对于小视野的雷达能否使用,我也不清楚,或许会失效
2、注意起始位置的扫描结果是否在地图内部
@maomao0220
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Related Issues (12)
- rosbag example? HOT 19
- ScanContext repo missing HOT 2
- Map load issue HOT 2
- 代码问题 HOT 2
- Using single global map file HOT 1
- 加载地图
- 运行时资源占用率高 HOT 9
- 重定位失败 HOT 5
- Only the first frame can match HOT 2
- Bow3D?
- 播放不同bag,定位失败
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