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I'm currently implementing IMU Preintegration theory in my coding based on your coding.
Would like to ask if you've tested you coding and make sure it's working before?
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## Tasks
- Consider how to do unit testing or benchmarking
- [ ] unit testing of IMU preprocessings (compute_velocity, compute_gravity_dir, preintegration)
- [ ] unit testing of edges for vis…
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Thank you for your excellent work！
I have doubts about the noise value setting of IMU accelerometer in the configuration file. (config_fr_iosb.yaml IMU/acc_n: 2000).
Can you explain about this? Is …
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您好。
我使用 hilti2022的exp01_construction_ground_level 数据集做测试。
按照您这篇提示https://github.com/JokerJohn/LIO_SAM_6AXIS/blob/main/doc/adaption.md，参数设置为：
`, it shows:
```
Eigen::Vector3d acc; //为啥要乘以gnorm？？？？
acc linear_acceleration.x * gnorm,
imu->linear_acceleration.…
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I use the pre-recorded bag package to build the map.
Using the “rosbag play -r ” command to speed up will make it report an error''Large velocity, reset IMU-preintegration!"
Is it a hardware pro…
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Hello,
Thank you for creating this repo. I am working on mapping KITTI360 with LIO-SAM in ROS2 humble.
For the extrinsic, I am using the KITTI extrinsic posted on readme.
![Screenshot from 2024-0…
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Hi:
I can't understand what the Tic Pc parameter means.
zgq91 updated
6 years ago