Missing source files

[valgur]

Hi,

Thank you for releasing D-LIOM. I found the approach described in the paper to be very elegant and with exceptionally good reported performance, so I wanted to see if I can maybe reproduce some of the results on the provided datasets.

Unfortunately, I found a sizable portion of core source files in this repo to be missing. Based on my count these are:

• cartographer/common/tic_toc.h
• cartographer/mapping/internal/3d/initialization/rigid3d_with_preintegrator.h
• cartographer/mapping/internal/3d/initialization/imu_lidar_initializer.h
• cartographer/mapping/internal/3d/gravity_factor/gravity_estimator.h
• cartographer/mapping/internal/3d/gravity_factor/gravity_factor.h
• cartographer/mapping/internal/3d/range_data_synchronizer.h
• cartographer/mapping/proto/imu_options.proto
• cartographer/mapping/proto/local_slam_range_data.proto
• cartographer_ros/cartographer_ros/pbstream_3d_map_publisher_main.cc
• cartographer_ros/cartographer_ros/kitti_trajectory_from_pbstream.cc
• cartographer_ros/cartographer_ros/kitti_urdf_param_caculator.cc
• cartographer_ros/cartographer_ros/gen_ground_truth_by_ndt_match.cc
• cartographer_ros/cartographer_ros/dlio_eval_node.cc
• cartographer_ros/cartographer_ros/read_constraints_from_pbsteam.cc
• cartographer_ros/cartographer_ros/pb_range_data_to_ros_cloud_main.cc
• cartographer_ros/cartographer_ros/trajectory_info_from_pbstream.cc

Could these perhaps be uploaded as well, so the repo would be in a complete and usable state?

[peterWon]

@valgur Hi, valgur. Thanks for your interest in our work. I checked the files you listed above. They already have been uploaded. I guess your compilation environment doesn't meet the requirements. It is recommended that you compile the cartographer and cartographer_ros successfully first, since most of the dependancies of D-LIOM are same as theirs.

[valgur]

Indeed, I apparently messed up pretty badly when trying to rebase your repo on top of the original cartographer ones to get a clear overview of the changes made here. I appreciate the quick and patient response and apologize for bothering you needlessly.

Anyway, after you pointed out that the files are where they are supposed to be, I successfully completed what I set out to do and split up the changes into separate repos for a clearer git history here: https://github.com/valgur/dlio

I also made some tweaks to the build configs for better noetic support, mostly by cherry picking relevant commits from newer cartographer versions:

• https://github.com/valgur/cartographer/compare/dlio-base...valgur:dlio
• https://github.com/valgur/cartographer_ros/compare/dlio-base...valgur:dlio

If there's any interest, I can create a pull request from these changes (possibly re-applied against the original repo structure without the submodules, if you prefer it that way).

[peterWon]

@valgur Hi valgur, sorry for the late reply. Thanks for your efforts. Feel free to create a pull request.