rpng
Adopt Livox lidar
Thanks for your wonderful job. When I adopt livox lidar with point time relative to first point time, header time use first lidar point time, but traj is drift than undistorted pointcloud. what should i do to adopt livox lidar
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 * 1e-6 > state->newest_clone_time()) { it++; continue; }
the gap of lidar first timestamp with last timestamp about 100ms, i also try use get_interpolated_pose_linear, but also misalign.
1、use get_interpolated_pose function, raw_remove_motion_blur set false
2、use get_interpolated_pose_linear function, raw_remove_motion_blur set false
3、raw_remove_motion_blur set true，pointcloud will mismatch；
I try simulation with only lidar and set raw_remove_motion_blur true
roslaunch mins simulation.launch cam_enabled:=false lidar_enabled:=true the result is also mismatch, use get_interpolated_pose_linear is correct
if set raw_remove_motion_blur false,
roslaunch mins simulation.launch cam_enabled:=false lidar_enabled:=true the result is correct
anyone can
Hi @qiqzhang , Are you using the livox mid360 or another model? I'm asking because the mid360 gives me some problems. Thanks
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, undistorted pointclouds need to adopted to mid360, bit original code supposes every point has fixed time gap, I tried to adopt mid360, but not work well, the bias is too large. @WoosikLee2510 Could you give us advices to get correctly results.
Hi, @qiqzhang. Thanks for bringing up this issue. I will check to see what the problem is. Definitely, not working well with simulation is a bug issue.
