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Adaption to Robosense RS-Lidar M1 #284
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Have you successfully run lego-loam with RS-M1? Could you please tell me your parameter configuration and code modification? Thank you very much |
I have the same question , have you successfully run lego-loam with RS-M1? Could you please tell me your parameter configuration and code modification? Thank you very much ^.^ |
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I am using a Robosense RS-Lidar M1 array LiDAR, which covers 120° HFoV, 25° VFoV, both with 0.2° angular resolution.
The point layout is described here: https://github.com/RoboSense-LiDAR/rs_driver/blob/main/doc/howto/18_about_point_layout.md#1842-mems-lidar
I tried with an adaption of the utility.h file like this:
The resulting point cloud has similarities to the expectation in the beginnung, so the parameters do not seem to be completely wrong. But the more I move, the wronger it gets (angles of room walls rotated).
Any ideas for a better parametrization?
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