Giseop Kim

without making a bulky bag file, I wrote a simple python script to publish the kitti files. https://github.com/kissb2/mini-kitti-publisher I hope it could help you.

@mhaboali Actually, for the large-scale env, the phenomenon is inevitable I think. You can consider loop detection and loop closing of a pose-graph (e.g., https://github.com/irapkaist/SC-LeGO-LOAM could be a solution)

@LeisureLei This would be help. https://youtu.be/Ea2sDqXf6ZY

@SoguMax similar issue. I'm testing in an outdoor environment also z drift occurs, any advice.. ? 

@antun008 I think PGO node error may related with GTSAM version please read this issue https://github.com/gisbi-kim/FAST_LIO_SLAM/issues/8

@antun008 I actually cannot grasp the reason, would you try to install the recent 4.0.3 ver? https://github.com/borglab/gtsam/releases/tag/4.0.3 and I'll reinstall it from scratch around the middle of Nov, let you...

@maciej-3 I think PGO node error may related with GTSAM version please read this issue gisbi-kim/FAST_LIO_SLAM#8

thanks for using our project. 1. PGO uses only keyframes (e.g., equidistant) to mitigate heavy optimization burdens while odometry publishes every all (e.g., 10Hz) motion estimations 2. SC-PGO internally runs...

@gongyue666 have you tried fast-lio-slam?

this will help you :) script: https://github.com/gisbi-kim/SC-LIO-SAM/blob/master/SC-LIO-SAM/tools/python/makeMergedMap.py tutorial video: https://www.youtube.com/watch?v=jmR3DH_A4Co