Fangcheng Zhu
Fangcheng Zhu
Can i bypass the IMU Calibration part and use one time generated IMU calibration directly in mapping
> Hi, > > Thanks for the great work. I used Pixhawk and VLP16 lidar and able to run the Lidar_imu_init. Got the Extrinsic file and map generated was decent....
> starts If the lidar odometry during Data Accumulation is correct, but refinement is bad, the reason might be there is not sufficient excitation. Please give really sufficient excitation just...
> Hi, Thanks for referring me here. I would like to add- > > 1. The calibration happened is so unexpected that it only happened once. After that i am...
> @zfc-zfc Max Cross-correlation: IMU lag wtr Lidar : 7 Total time delay (IMU wtr Lidar): -9.94719 s Using LIO: SUBTRACT this value from IMU timestamp or ADD this value...
能否分享一下出错的数据，我这边测试一下呢？另外，请问你使用的ubuntu版本，gcc版本，雷达型号分别是什么呢？
> 请问另一个程序是指哪个程序呢？我们这边目前没有复现你提到的错误，如果你可以提供出错的数据（可以上传google drive 或 onedrive），我们很乐意帮你解决问题。 或者你可以下载我们提供的测试数据，看看能否成功运行？如果能成功运行，可能是数据本身的问题。如果我们的测试数据也报同样的错误，可能就是环境配置上的问题。
> @zfc-zfc 另一个程序指的是[https://github.com/zfc-zfc/imu_lidar_calibration，也是同样的问题。](https://github.com/zfc-zfc/imu_lidar_calibration%EF%BC%8C%E4%B9%9F%E6%98%AF%E5%90%8C%E6%A0%B7%E7%9A%84%E9%97%AE%E9%A2%98%E3%80%82) 我的数据在这里，[https://1drv.ms/u/s!Ag9T0nETOvFzg1lbkGr89Az2MbGu?e=qRIZUr。](https://1drv.ms/u/s!Ag9T0nETOvFzg1lbkGr89Az2MbGu?e=qRIZUr%E3%80%82) 你的测试数据中好像没有velodyne的数据包，但是我下载了其他型号的激光雷达的数据，是可以正常运行的，我也怀疑是数据本身的问题，但是并没有找到原因。我的激光雷达是VLP16，IMU是SBG Ellipse-E。麻烦你帮我看看到底是哪里的问题，已经困扰我两天了。非常感谢你的帮助。  抱歉，无法下载文件
> Hi, theoretically, this package supports both mechanical spinning LiDARs and Solid-state LiDARs. But for mechanical spinning LiDARs, those with more than 32 lines would be better. The low vertical...
> Thank you for your response. I started over on a different computer and managed to get the Livox Horizon working and it outputs the results file. > > How...
> I have now tried to get this package to work on 3 different arm computers. Two Pie4's 8gb each and a Jetson AGX. All come up with the same...