Big Star

Thank you for your outstanding work and public datasets! I am curious about the filtering method to depth image. Can you introduce this filtering method or open source this filtering...

About the camera and IMU Intrinsics parameters in the "euroc_config. yaml" file

2

Why are the camera and IMU Intrinsics parameters in the "euroc_config. yaml" file inconsistent with those provided on the Euroc official website? Moreover, the Euroc official website did not provide...

Test the data provided, but the image contrast after calibration is poor

1

Hello, amazing work! After installing according to the tutorial, I tested the data you gave. However, I found that the contrast of the calibrated image is very poor, which is...

Hello, excellent work! I get an error when testing on rosbag recorded in gazebo. `odometry_node: /home/x/ws_livox/src/clic/src/spline/trajectory.cpp:110: clic::SE3d clic::Trajectory::GetSensorPose(double, const clic::ExtrinsicParam&) const: Assertion `time_ns >= this->minTimeNs() && time_ns < this->maxTimeNs() &&...

M2DGR.yaml中的激光-IMU平移外参是不是给反了？

1

M2DGR.yaml中，extrinsicRot和extrinsicTrans表示将IMU坐标系转换到激光坐标系的旋转和平移外参，以激光雷达为参考坐标系。从下图中可以看出，如果以激光雷达（3）为参考坐标系，IMU（5）原点位置应该是：[负数,接近0,负数]，而提供的平移外参为：[0.27255, -0.00053,0.17954]，是不是应该改为：[-0.27255, 0.00053,-0.17954]？ 

Hello, amazing work! What is the decay factor in the greedy feature selection algorithm?

1

Hello, amazing work! What is the decay factor in the greedy feature selection algorithm?