livox_horizon_loam

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livox Avia?

1

I am beginner of Lidar system. Can this code run on livox-Avia lidar direcly? or should I modify something. Could you advise to most stable mapping method or coding for...

T-Sodbileg

https://github.com/Livox-SDK/livox_horizon_loam/blob/acc1d48fba8c5751cc3d95be091735c5a0dd5fb1/src/imu_processor/data_process_node.cpp#L153 Hi, q_il, t_il means imu is base frame? and for Horizon should be set "1, 0, 0, 0, 0.05512, 0.02226, -0.0297 " ?

PyNancy

[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!

5

I'm running the livox horizon lidar on one PC and running the loam on a different PC. After about 20 seconds of running LOAM, the laserOdometry module crashes with >...

nbelanger99

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "livox_ros_driver" with any of the following names: livox_ros_driverConfig.cmake livox_ros_driver-config.cmake Add the installation prefix of "livox_ros_driver" to...

alsosos

Hello, we use horizon to collect data and get .lvx and .imu files, how to generate .bag file (such as 2020_parking_lot.bag) that include both Lidar and IMU data? What is...

xtong2

Configured livox_horizon_loam. I can write .bag-file, convert it to .pcd? How to get a file in .lvx format

s-lexx

Hi, can I ask you, where can I find the CustomPoint.line value ? I want to use custom dataset with your SLAM. I've recorded the dataset with livox SDK tool...

MiroslaviS

Just checking my understanding the code. The main [ProcessLoop](https://github.com/Livox-SDK/livox_horizon_loam/blob/master/src/imu_processor/data_process_node.cpp#L113) calls [ImuProcess::Process](https://github.com/Livox-SDK/livox_horizon_loam/blob/master/src/imu_processor/data_process.cpp#L89) at 1 second intervals. However, the first time ImuProcess::Process is called, [b_first_frame_](https://github.com/Livox-SDK/livox_horizon_loam/blob/master/src/imu_processor/data_process.cpp#L99-L114) is true, so it assigns `last_lidar_` and...

seandmccarthy

use imu no obvious difference

1

I see the mapping dont have loopclosure, and i test the mapping compare use imu(horizon built-in imu) or not. But there is no obvious difference in the results. Anyone meet...

huangsiyuan0717

Hi, what is the type of IMU in data imu-demo.bag? ([https://terra-1-g.djicdn.com/65c028cd298f4669a7f0e40e50ba1131/demo/imu-demo.bag](url))

ypLincode