koide3
`merge_frames_*` are in [gtsam_points](https://github.com/koide3/gtsam_points/blob/f5eb8d3a7aa555d68801a66762136fc672cd3bca/src/gtsam_points/types/gaussian_voxelmap_cpu_funcs.cpp#L25). I'm thinking of implementing a merge function with intensity support, but it has a low priority for now.
Please consider using the new library that has less issues on windows and is faster and easier to use. https://github.com/koide3/small_gicp
`imu_int_noise` models the IMU integration noise over time and corresponds to [`gtsam::PreintegrationParams::setIntegrationCovariance`](https://gtsam.org/doxygen/4.0.0/a03531.html). `imu_bias_noise` models the random walk of IMU bias. Setting a small value to it means assuming the IMU...
Yes, it's correct. `T_world_lidar` is a transformation that brings a LiDAR point to the world frame, and is derived as `T_world_lidar = T_world_imu * T_lidar_imu.inverse()`. The initial sensor pose is...
This package is for the online SLAM problem, and does not support LAS or PLY inputs. Maybe CloudCompare could do good work for such point cloud files.
It seems like that `libgtsam_points_cuda.so` is not recognized by the system. `sudo ldconfig` may resolve the issue.
The code for the manual pose setting modal, which is used in manual loop closure in GLIM and manual pose setting in GLIL, is available here: https://github.com/koide3/glim/blob/master/src/glim/viewer/interactive/manual_loop_close_modal.cpp Note that the...
Thanks. I fixed the mismatched `num_elements` and the texture size target. I also added I also added a warning to find mismatched combinations of `format` and `num_elements`. https://github.com/koide3/iridescence/pull/147
Looks good! Ouster changed the LiDAR-IMU transformation at some point, and thus newer Ouster LiDARs need a different setting. Note that errors `large time gap between consecutive LiDAR frames!!` indicate...
No. But, there is general mesh model IO that may be useful for your purpose: https://github.com/koide3/iridescence/blob/master/src/example/ext_model_viewer.cpp