Jeff Harris

sure,i also don't konw how to use it to train 3d with 2d label T-T

I change some code to adopt livox，only lidar + imu run, like this, success = state->get_interpolated_pose(lidar_inL->time + lidar_inL->pointcloud->points[i].curvature * 1e-6, RGtoIi, pIiinG); if ((*it)->time + state->lidar_dt.at((*it)->id)->value()(0) + (*it)->pointcloud->points[(*it)->pointcloud->points.size() -1 ].curvature...

> Hi @qiqzhang , Are you using the livox mid360 or another model? I'm asking because the mid360 gives me some problems. Thanks I use models that same as mid360,...