koide3 comments

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                                            koide3

Improving Registration Quality

Please try the `flat_earther` plugin that enforces proximate submaps (or the entire map) to be on a flat floor. https://github.com/koide3/glim/issues/108 https://github.com/koide3/glim/issues/190

Reason for `AsyncOdometryEstimation::run` using a polling loop

When I wrote the code, I was afraid of the performance of `condition_variable` because IMU data may be at a very high frequency (~1000Hz). I now think the cost of...

Shadow areas in point clouds without images

Maybe you can pick up edges of windows or buildings?

Shadow areas in point clouds without images

Pleaese note that you don't need to select points for every image. Picking 5 to 10 points through all imaged is sufficient.

Bug in ext_light_viewer_capture.cpp - depth image is black

Thanks for reporting the bug. I just fixed and pushed a fix https://github.com/koide3/iridescence/pull/147.

global_mapping_pose_graph fast forwards too much when standing still at the start

Thanks for reporting the issue. I'll add a patch to limit the maximum fast forward steps as a quick fix. I'm also thinking of implementing a better proximate keyframe selection...

global_mapping_pose_graph fast forwards too much when standing still at the start

I just merged a patch to limit the fast forward steps up to 10 https://github.com/koide3/glim/pull/120.

glfw error 65539

Are you running it natively or on docker? If the latter, you may need some X11-related docker options. If the former, please check if the GPU is visible to the...

The package can not build with error CUDA::cudart

What is the version of your ubuntu and ROS? If it is older than ubuntu 22.04, you need to upgrade the cmake version.

The package can not build with error CUDA::cudart

I'm not sure but it seems like there are some issues on cmake and CUDA. Did you see any other warning/errors with cmake?