FAST_LIO
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hku-mars
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
https://github.com/gisbi-kim/FAST_LIO_SLAM/issues/19 Does anyone knows, what to change in launch or c++ files, in order that SC_PGO will work for livox Avia? Thanks a lot, Antun
Hi, I'm try to fast_LIO with MID-70 and IMU with intel realsense D435i. I just followed all steps in this repository, but in my rviz viewr, I cannot see any...
I found that after 30min scanning by the Avia, the PCD file only records the last 10min the point cloud file. Is there anything to solve this problem？
尊敬的港大团队好： 因为avia型号买不到，只能尝试用mid-40和70绑定外接imu，遇到些困难，请指点下~ - 尝试把loam_livox里，mid系列的launch_file 拿到fast_lio尝试。可以看到点云，但优化可能不明显。 您会考虑 **mid**系列外接imu 的优化么？ - 还试了按过去的[相关回复](https://github.com/hku-mars/FAST_LIO/issues/16)修改，但mid系列的点云没有出现在rviz界面里。请问还适用么？ ``` 相关回复：`Does Fast-lio-1.0 support MId-70?` FAST LIO可以外接IMU（修改laser_mapping.cpp里面的ros 订阅topic name）， 不过需要保证旋转上没有偏差，也就是rotation的外参是单位阵。 平移外参可以直接在common_lib.h里面修改。 ```
Hi again, There's this "heuristic" when selecting which planes are going to be matched that I can't find any **reference** to it. Have you made it yourselves? Why do you...
Could you tell me more detailed references to inferring the results of the first row of Fx matrix ? Thanks.
你好，感谢你们开源这么好的作品。 我使用livox_avia构建的地图效果非常好，但是有时候会z轴漂移，而且数据量太大，生成的地图无法导航， 现在我打算使用Velodyne的雷达构建地图，根据提示配置完成后，一开始运行时，点云图就会旋转，然后不久就直接飞走了，请教一下可能是什么问题。谢谢！！
May we know if this supports multiple Horizon Lidars? Thanks
Hello, For a project I need to remap the raw point cloud to final map. Currently I am dumping every livox point cloud in `sync_packages` from `Measures.lidar`. I tried saving...
