koide3

It doesn't matter as long as you don't use extension modules in [glim_ext](https://github.com/koide3/glim_ext)!

It seems there are many drops of IMU and LiDAR data frames. This is a common issue related to bag recording in ROS2. Please try using components to run the...

Thank you for the PR. I looks like this PR makes the intensity field mandatory. I would like to merge it if we can keep the intensity optional. Please see...

Thanks a lot! I'm merging this PR now.

> Does GLIM support any kind of localization-only mode, where I can load an existing map and localize new LiDAR-IMU data against it? GLIM itself doesn't provide localization-only estimation. While...

I guess it is caused by mismatch of library versions. Combining binaries built yourself and installed via PPA may cause inconsistencies. If you installed GLIM from PPA, please avoid using...

1. Please try tuning the following parameters: - Decrease "submap_target_num_points" in "config_sub_mapping_gpu.json" to 20000 ~ 30000 (decrease # points per submap) - Decrease "keyframe_voxelmap_levels" in "config_sub_mapping_gpu.json" to 1 (decrease #...

I implemented GPU memory offloading that enables swapping out submap data from the GPU memory and drastically reducing the memory consumption. You may want to try it: github.com/koide3/glim/pull/235

There may be IMU-related issues. Can you check if 1) the LiDAR-IMU is correct, 2) IMU data has a reasonable frequency (about 100Hz)?

The current implementation requires specifying both the translation and rotation of the initial IMU pose. Why you want to specify only the translation?