koide3

Hmm, basically there is no specific assumptions on the sensor motion in the dynamic integrator, and it should work for pitch and horizontal movements. If possible, could you share a...

It seems the build system is using a manually installed Eigen (possibly older than Eigen 3.4.0) at `/usr/local/include` (It should be located at `/usr/include` usually). Please try 1. Check the...

If you mean you want to integrate some external positional observations into the estimation system, I recommend you creating an extension module to inject positional constraints into the factor graph....

The GPU RAM usage can be mitigated by changing the following params: - Set `submap_target_num_points` in `config_sub_mapping_gpu.json` to 10000 ~ 25000 (# points for each submap) - Set `min_implicit_loop_overlap` in...

I'm adding a memory usage monitor to the viewer that would be useful to find memory consuming functions. https://github.com/koide3/glim/pull/226

Which image are you using? I confirmed that build and devel directories are contained in the docker image we provided. ```bash koide@costello:~$ docker run --rm -it koide3/glim_ros1:noetic_cuda12.2 ls /root/catkin_ws/devel _setup_util.py...

I'll upload a MID360-demo data next week. Meanwhile, please see [the setup guide](https://github.com/koide3/glim/wiki/Sensor-setup-guide) for the configuration of MID360.

Sorry, I completely forgot this. I just uploaded the example dataset. Please see here: https://koide3.github.io/glim/demo.html#outdoor-driving-test-with-livox-mid360

This may be caused by the use of old versions of dependent packages. Please try upgrade `gtsam_points` and `iridescence` to the latest versions. Note that `/usr/local/lib/cmake/gtsam_points/` should be manually removed...

It should be easy to implement it with `isam2->marginalCovariance()`. I'll add a topic publishing `PoseWithCovarianceStamped` later.