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Published 20 hours ago • verified publisher icon TixiaoShan

The point cloud running and shaking are very serious, what went wrong?

Open ldzhuang opened this issue 1 year ago • 3 comments

微信图片_20230506172658 微信图片_20230506173330 微信图片_20230506173633

https://user-images.githubusercontent.com/64113233/236616203-377bd025-bc43-4bce-b852-b35db45a3b5b.mp4

ldzhuang avatar May 06 '23 09:05 ldzhuang

Hello,

I had similar problem, and it may mean that LiDAR is shaking the IMU, and thus creating interference. Try to remove IMU from LiDAR, fix it in one point, and put it in same orientation. If it solves the problem, that was that. If not... I cannot help you further.

Iesenjin avatar May 12 '23 09:05 Iesenjin

Thank you for your answer, but I have encountered a problem

https://github.com/TixiaoShan/LIO-SAM/assets/64113233/f3b44997-a652-4b45-9c9e-c5d6181a202f

ldzhuang avatar May 12 '23 10:05 ldzhuang

From my very limited experience - as I am a beginner both in LIO SAM and programing in general - this may be because you are using wrong matrices. While experimenting with values, sometimes the recording did that, because LIO SAM was confused by the output data from IMU and LIDAR. Try first matrix set, and see how the recording will behave. Also - use default values for extrinsicTrans, at least until you stabilize the recording.

Iesenjin avatar May 12 '23 15:05 Iesenjin