Fish

Hello, have you found solutions? I'm also curious how is your training conducted with ``` limit_train_batches: 800 limit_val_batches: 100 ``` This setting is only for testing which means not enough...

You can publish the odometry from IMU integration at IMU_preprocessing.hpp. If you refer to the code "imu_state = kf_state.get_x();", you can write a Odom Publisher at class ImuProcess, and publish...

It's not actually accelerated. Fast-LIO odometry is aligned with LiDAR frequency, while the method I mentioned, is to align with IMU frequency. For the first question, go to line 287...

I have tried this, and it overall works well. It's a simple integration, but only between LiDAR frames, which means the accumulated error is within 0.1 seconds (assume LiDAR has...

>  你好，我按照上面说的方法publish了imu_state，但是为什么显示的轨迹是断断续续的？ Seems like your IMU frame is not aligned with LiDAR. Please correct me if I'm wrong.

Interested in the same problem about sim-to-real sys-id. I can run the code without any modification, although something wrong happens: loss always shows 0 and the grad is always [0,...