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Gaochao-hit / LIO-SAM_based_relocalization

A simple system that can relocalize a robot on a built map is developed in this system. The system is based on LIO-SAM.
BSD 3-Clause "New" or "Revised" License
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IMU preintegration actually not used? #8

Open yinhaosen opened 1 year ago

yinhaosen commented 1 year ago

https://github.com/Gaochao-hit/LIO-SAM_based_relocalization/blob/b162b829660d34ab5968b47d4d1a12f23f54c0f1/src/globalLocalize.cpp#L463

Here, inglobalLocalize.cpp, it seems that imu preintegration odometry for prior to lidar actually cannot be used because the code of lidar incremental pose has been deleted.

NozomiWyane commented 1 year ago

I want to ask the same question, it seems that it didnt use the imupreintegration results in code, but I try to use it in the code. Have you tried it?

yinhaosen commented 1 year ago

I want to ask the same question, it seems that it didnt use the imupreintegration results in code, but I try to use it in the code. Have you tried it?

Yes. Just same as the original version of LIO-SAM but you need to do some tricks to integrate them. I have completed it a few months ago and forgotten what tricks :(