Kenny Chen

Hi @koide3 -- your work has been vital for my PhD research and beyond, including [DLO](https://github.com/vectr-ucla/direct_lidar_odometry) and [DLIO](https://github.com/vectr-ucla/direct_lidar_inertial_odometry). Your hard work and commitment to OSS is deeply appreciated, and my...

1. Yes 2. The factors are added into the factor graph

Hmm, probably has something to do with OpenMP when compiling with gcc.

Yeah PCL 1.12 has a breaking change where they switch smart pointers. Instead of pushing to `master`, I made a new branch `feature/ubuntu-2204`. Can you PR to that instead? Thanks...

Yes, memory will increase with more keyframes placed in the environment.

It should be stationary to calibrate for IMU biases and to align with the (approximated) gravity vector.

@85256638 The extrinsics seem relatively correct (looking at [this](https://github.com/vectr-ucla/direct_lidar_inertial_odometry/issues/5#issuecomment-2348306887)). My guess is that it's an issue with the FOV of the Aria. DLIO's keyframing scheme really relies on the 360...

Hi @piluohong -- everything is performed in the global frame.

Hi @aronasefaw -- the debug output just shows your CPU specs (total number of cores), and not the number of cores being used by DLIO. Changing the [`num_threads`](https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/master/src/dlio/odom.cc#L19) variable should...

Ah gotcha -- do you have OpenMP installed? If the system can't find it, it will [default](https://github.com/vectr-ucla/direct_lidar_inertial_odometry/blob/master/src/nano_gicp/nano_gicp.cc#L54-L58) to one core. If not, try `sudo apt install libomp-dev`.