liorf

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Robust initialization

3

Hello. I am doing a thesis on lidar SLAM on an USV. I have successfully managed to run LIO-SAM (Liorf) in real-time with Ouster OS1-32 and its internal IMU. This...

kristianhope

对于90度的固态雷达可以使用吗？

2

放进去不报错但是也没有建图结果，360可以正常建图

yxxzhuzhuxia

May you check your messages on bilibili? Need some help for running Mid360 with LIORF

12

Dear YJZLuckzBoy, I send you a message on bilibili, can you please reply me and help. Thanks a lot.

LiuYMUNI

Catkin_make Error with liorf : Undefined References

1

I ham having trouble while trying to catkin_make the repo by installing the correct versions of gtsam (4.0.2) and cmake(3.7.2) based on the the suggested solutions from LIOSAM and liorf...

sribru

how to open fusion gps function?

1

hi, many thaks for your work, I am using myself dateset, and my imu topic is "imu", gps topic is "fix", I change the lio_sam_default.yaml, and the gps topic and...

liuchongxiao

Hello, I didn’t find the code to initialize the direction of gravity acceleration. Does it assume that the z-axis of the initial pose is parallel to the vertical line?

1

ghost

断点续建可以提供一些可行的意见吗

1

Stream11

宇树激光雷达L1的适配

1

你好，我最近在适配liorf与宇树激光雷达L1，遇到了很多问题，比如点云密度低如何调参、或者修改代码；IMU数据为250hz，且IMU受激光雷达旋转影响有抖震，我想加入低通滤波算法到liorf中，博主有兴趣适配L1激光雷达吗？

zwq-88

Path is always behind GPS

1

‍Hello, I just saw your video on LIORF Mapping and I'm genuinely impressed. I implemented your code and the LiDar map produced was of extremely high quality. However, I do...

rayxie11

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]？ 

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