Problem of KITTI dataset

[hellopopyee]

Thank you for your previous help. I can initialize the KITTI data set normally with your code, but this error occurred, and the lidar was unable to build a map. Although the error was reported, an inaccurate estimation result could still be obtained. Do you know why this is?

[epicjung]

Thank you for your previous help. I can initialize the KITTI data set normally with your code, but this error occurred, and the lidar was unable to build a map. Although the error was reported, an inaccurate estimation result could still be obtained. Do you know why this is?

Somethings you need to check:

1. image_topic in params_camera.yaml (as no feature extracted...)
2. camera config (projection_parameters, etc.)
3. pointCloudTopic in params_lidar.yaml
4. As you are using Velodyne in KITTI data, please follow the README.md and modify the code.

Let me know if it still does not work.

[epicjung]

Thank you for your previous help. I can initialize the KITTI data set normally with your code, but this error occurred, and the lidar was unable to build a map. Although the error was reported, an inaccurate estimation result could still be obtained. Do you know why this is?

Somethings you need to check:

1. image_topic in params_camera.yaml (as no feature extracted...)
2. camera config (projection_parameters, etc.)
3. pointCloudTopic in params_lidar.yaml
4. As you are using Velodyne in KITTI data, please follow the README.md and modify the code.

Let me know if it still does not work.

[epicjung]

@hellopopyee there has been an update in the params_camera.yaml file to use the extrinsic parameters between the lidar and imu. Please use the most recent version. This might be the problem for you.