Zale-Liu

It seems the problem of eigen library. You can change from "std::vector" to "std::vector"

I have tested the codes on Ubuntu 18.04 and it can work. What is your problem?

BALM暂时还没有imu，我已经适配完imu的预积分，很快就会发出来

> Maybe you need to source setup.bash of the driver. Yes. The project relies on a self-defined message of livox_ros_driver. You can complied livox_ros_driver and source the path.

3081 is definitely too big for a BA problem. We always use two approaches to solve this problem. First, you can down-sample the input frames from 10Hz to 2Hz, while...

The code we opened mainly shows the basic function of the BA for readers to understand, instead of a completed system. You can take it as a sub-module in your...

> can we use pcd from r3live? How can I set in fastlio/r3live to publish pose matrix and use it for balm in format like yours? > > Thanks in...

> Can you maybe help us and create modified code for fast lio or even better for r3live. Hope its not inconvenient for yousweat_smile ofstream outFile; outFile.open(yourpath + "alidarPose.csv", ios::out);...

Yes, you are right. It is a bug I forget to fix.

This project is a simple module to show how does our BA work. It requires a front-end to provide undistorted point clouds and initial poses to run, thus it can...