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袁博,抱歉请教几个问题!
1:在创建地图,更新地图,点云匹配时都会计算世界系下的协方差,代码中的多项式的第二项貌似少了旋转,请问这是一个bug么?
2:此处的point_crossmat是body系下的点,而非lidar系下的点。与论文不太相符,请问这是为什么呢?
![image](https://user-images.githubusercontent.com/37181135/1989…
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您好!我的静止不动运行r3live时能顺利生成正确点云,但对设备进行微小位移时就会出现大幅度路径漂移问题。如图,仅仅移动了一点点r3live就显示路径就开始乱窜,请问怎么解决呢。雷达使用的是livox-mid40,没有自带imu,相机使用的是azura kinect dk,imu使用的是kinect的imu
![屏幕截图 2022-04-04 15:26:57](https://user-ima…
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Hi, in r3live demo, how do you add imu extrinsic to the whole project?
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Hi everyone, I wanna add a ground plane (ax+by+cx+d = 0) constrain to the lidar-inertial-odometry to reduce the z drift or make the trajectories in one plane.
I follow the OrientedPlane3.h andd Orie…
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作者您好,感谢您的工作,我运行的horizon.launch,但是标定的地图构建很乱,请问下这个框架是否适用horizon
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FAST-Lio seems to delete point clouds less than 1m.
I want it to be less than 0.8m instead of less than 1m, which parameter should I modify?
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Can I use livox converter 2.0 which has input between 9 and 30V for livox mix 100? Beacuse with mid-100 cames livox converer 1.0 which supplyes from 10-15 v. I dont want to destroy my livox mid 100?:)…
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Good day. Is this driver compatible with your preexisting ROS driver?
Thanks!
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我在建图过程中会有延迟建图现象,想问下作者知道这是在哪部分的问题吗
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CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
LIVOX_LIDAR_SDK_LIBRARY
…