epicjung

``` from os.path import join from parseTrackletXML import parseXML def save_tracklet_data(bag, kitti, velo_frame_id, topic): print("Exporting tracklets") # read tracklets from file tracklet_file = join(kitti.data_path, 'tracklet_labels.xml') tracklets = parseXML(tracklet_file) # loop...

Since the algorithm is not tightly coupled. vio and lio can be different. you need to choose the better one

@Grandzxw Yeah. My result shows good performance. Could you tell me your sensor configuration?

@HeXu1 Sorry, I cannot provide the test data for now, but I will provide it if I have some spare time. You're right. There was something wrong in the lidar...

@skyrim835 That's up to your sensor configuration. What's your sensor configuration? Can you list down all the extrinsic matrices of yours?

@hellopopyee I used my program to run KITTI successfully using "kitti_2011_09_30_drive_0028_synced". The parameters that I used are: # from params_camera.yaml lidar_to_cam_tx: 0.3335 lidar_to_cam_ty: -0.0048 lidar_to_cam_tz: -0.0756 lidar_to_cam_rx: -1.5638 lidar_to_cam_ry: 0.0...

>  > 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...

> >  > > 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...

@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...