VoxelMap

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初始化不鲁棒

2

VoxelMap总体性能很好，但是UAV在初始化时如果飞机一直在运动则并不鲁棒非常容易发散，请问这是为什么呢？演示视频中UAV也是从中途平飞静止时启动的算法，请问有没有什么好的解决方法呢？ 

Sunnystaste

Great thanks to your project and I have a question about state covariance. At each period of GN iteration. After state update in j-th iteration, shouldn't the state covariance be...

Richardson-Chong

L515 Failed to find match for field 'intensity'

1

i launch mapping_l515.launch and play l5152.bag. it prompts Failed to find match for field 'intensity'. Failed to find match for field 'time'. Failed to find match for field 'ring'. and...

245680

**error**: invalid conversion from ‘const char*’ to ‘int’ [-fpermissive]

4

您好 ，感谢您的分享，这里有个问题想要请教，在我尝试编译的时候，出现了以下错误： ~/catkin_ws/src/VoxelMap-master/include/voxel_map_util.hpp: In function ‘void BuildResidualListOMP(const std::unordered_map&, double, double, int, const std::vector&, std::vector&, std::vector&)’: **error**: invalid conversion from ‘const char*’ to ‘int’ [-fpermissive] 请问您知道这里是什么原因吗，谢谢！

lidawenwenwen

运行avia数据漂移

7

您好！感谢您出色的工作！我有一个问题想请教您，目前我运行自己的avia采集的数据，立马漂移，请问需要如何修改您的代码才能正常运行，或者我是不是哪里参数设置的不对？期待您的答复

Xu-Shilin

Close range points

5

Hi!! First of all, congratulations for your work! I'm testing the code and it seems to work well. I'm testing it with Livox Horizon datasets, and I need to avoid...

EloyAldao

map size

1

Dear Author, for kitti sequence 00, how much space does the map occupy with maximum voxel size set to 3.5m and octo-tree level set to 3? Do you think it...

HaisenbergPeng

更新方程为什么没有先验的雅可比

1

作者您好，感谢您的开源工作，这里有一个疑惑，想要向您请教： 根据fast_lio2的论文，更新的方程如下：  在这个项目中，代码中求解方程如下： `solution = K * meas_vec + vec - K * Hsub * vec.block(0, 0);` 相比fast_lio2没有Jk预测方程的雅可比矩阵，请问这里是有什么不一样吗，为什么这里没有Jk。 谢谢！

lidawenwenwen

about point covariance

1

According to the paper, covariance of point in the world:  but in the codes, it seems missing W_R_L in the second iterm, see codes: _cov =...

deliangye

Hello @ChongjianYUAN I have Ubuntu 18.04 and ROS melodic and I run the command in the terminal $ roslaunch voxel_map mapping_velodyne.launch and the result/output in the terminal is as following:...

PauloMendes33