Why the odom of relocation drift?

[greatplan2017]

[SiyuanHuang95]

Hi, thanks for your interest,

1. You are testing it with your own dataset?
2. The lidar point cloud map is obtained with also Livox?
3. Did it initialize successfully?

Bests,

[greatplan2017]

1. yes, i am testing my dataset.
2. My dataset was obtained with Livox Mid-100
3. how could i know initialize successfully?

[SiyuanHuang95]

1. Our framework is designed for an industrial park, some specific modification is made. 2. Have not tested with Mid-100, maybe the points pattern have some differences. 3. You can check it with the same rosbag for mapping and localization module, and see whether localization can be aligned with your prior knowledge. Bests, greatplan2017 ***@***.***> 于2022年3月14日周一 10:39写道：

…

1. yes, i am testing my dataset. 2. My dataset was obtained with Livox Mid-100 3. how could i know initialize successfully? — Reply to this email directly, view it on GitHub <#3 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AKYNZ7BYRMTCARJE4NRDJC3U72REZANCNFSM5QPK6FFQ> . You are receiving this because you commented.Message ID: ***@***.***>

[greatplan2017]

Thanks, I have solved the problems.

[SiyuanHuang95]

Cool! Glad to hear your success. Could you share some hints about how to solve these problems? Bests

…

在 2022年3月14日，下午11:58，greatplan2017 ***@***.***> 写道：  Thanks, I have solved the problems. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.

[greatplan2017]

The function crop_global_map_in_FOV under my dataset and device(mid-100) is unstable.

Thanks.

[SiyuanHuang95]

Hi,

you may need to modify the FOV parameter for mid-100.

[SiyuanHuang95]

Since no update now, I will close this issue