FAST_LIO
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hku-mars
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
您好，首先非常感谢您优秀的工作！！！ 我想请问一下，我在用mid70+外置imu测试算法的时候，录制了一个室内的bag数据，每次跑到最后30秒左右的时候终端就会出现“no effective point”的警告，然后rviz的表现就是里程计“飞”了。imu和雷达已经根据另一个非常优秀的工作lidar_imu_init进行了同步。 我不太明白为什么会出现这个问题，可以抽空帮我解答一下嘛，非常感谢！！！
In the #886 line of the preprocess.cpp file, why the plane normal vector is updated using (vx, vy, vz)?
您好，如题想要在程序内重置里程计，请问需要修改那些部分？我根据构造函数中的相关变量，将它们设置为初始状态，但发现并没有将整体系统重置，经过几轮运行后，里程计又重新回到了重置前的状态。
I have vlp-16 and imu sensor.I recorded some data by myself.But I have found there is no timestamp in PointCloud 2 ? what,s wrong with it?
geo@geo:/media/geo/d057a6b6-f590-4870-a4f8-13b392d0f9eb/geo/ws_livox$ roslaunch fast_lio mapping_avia.launch ... logging to /home/geo/.ros/log/ea126236-2e7f-11ed-9430-00012e910c4a/roslaunch-geo-30351.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage...
Hello! I have some questions about publish odometry message and covariance. 1. Is there any reason that ```odomAftMapped``` published before the covariance is defined? https://github.com/hku-mars/FAST_LIO/blob/a56a0c544ae305e9b00ca4cd4e262d20703fdaa8/src/laserMapping.cpp#L585 2. And the covariance is...
Dear Friends, I am using the latest release of this project and my hardware is os1-32 and the imu comes with it. I find that when lidar is statis, the...
Hi, thank you for your great work about FAST LIO. I changed the rviz setting when fast lio running. But the fineness of the point cloud display has changed. How...
