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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 10 months 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 10 months 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 :(