Get lidar. The default radar of LeGO-LOAM is velodyne.
The radar I have is 32 lines of Sagitar Chuangju. Try to change it. There is one of the most serious problems. This slam is aimed at a radar with a vertical resolution and equidistant distance, and I use a radar with a dense center and thin ends. Let's take a look at the research and change it later. Let's run through
extern const int N_SCAN = 32;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 360.0/float(Horizon_SCAN);
extern const float ang_res_y = 40/float(N_SCAN-1);
extern const float ang_bottom = 25;
extern const int groundScanInd = 20;The first parameter is the number of lines,
The second parameter is the number of horizontal points
The third parameter horizontal angular resolution
The fourth parameter is the vertical angular resolution, which is obviously equidistant
The fifth parameter is the angle of the bottom corner, which should be included in the user manuals of various radar manufacturers.
The last one is the number of ground lines. It should be included in the user manual of each radar manufacturer