af-doom

run main.py video ends before it runs out

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python main.py --camera "/home/ubuntu/MyFiles/3.avi" Loading pose model from ./Models/sppe/fast_res50_256x192.pth qt.qpa.xcb: failed to initialize XRandr qt.qpa.xcb: XKeyboard extension not present on the X server when run main.py ,with the above information,...

多场景标定无法完成

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您好，我用自己的数据集测试了单场景标定没有问题，但是进行多场景标定时只会对第一张图片和PCD进行标定（只显示了第一张图片的优化结果，RVIZ中的点云三个场景都是有的），优化完第一张图片，终端输出push enter to publish again，然后程序就不会优化第二张图片了

We calculate the absolute values of the relative IMU pose errors, in average and standard deviation. Hello, is the pose error mentioned in your paper the average error in each...

Online Refinement相关

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您好，麻烦您几个问题 1.Online Refinement阶段是继续做旋转激励（在原地像视频中一样旋转），还是做一些平移运动比较好（比如跑一个完整的回环指令） 2.外参数校准结果、特别是平移与设定的Online Refinement有很大关系，比如有时候我优化10s结果很好，而优化30s结果就很差，或者我有其他方法判断外参收敛到准确值吗

The PCD obtained by velodyne16 does not seem to yield good voxels

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MID360 and camera calibration

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 Hello, thank you very much for your open source project, I am not able to get good results when calibrating a single lidar and camera, the alignment...

Thank you very much for adding calibration for a single camera and radar. I encountered the following error

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Iteration:0 Distance:30 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! Iteration:1 Distance:29 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with...

Hello, thank you for your great work. Can this work realize the calibration of a camera and a lidar, because the effect is obviously better than your original work.Could you...

Hello, your work is excellent. Can the code realize the space-time calibration without initial value, or how to realize the space-time calibration

Hello, could you please tell me the detailed calibration process for IMU and camera space-time calibration