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Huguet57 / LIMO-Velo

A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs
GNU General Public License v2.0
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How soon the [hdmap] branch will be release? #22

Open qpc001 opened 2 years ago

Huguet57 commented 2 years ago

There's some good news/bad news about the [hdmaps] branch.

Good news is that 90% of the work is done. Anyone can try it now and it will likely work.

Bad news is that it depends on the 9-DOF support since initial state is also "non-zero".

So the HD-map support will be ready as soon as I figure out how to do the 9-DOF support cleanly. I would expect within a week if everything goes well.

qpc001 commented 2 years ago

If i know the init pose, the [hdmaps] branch will work?

Huguet57 commented 2 years ago

Well, it actually works now as well but there are the same bugs as the 9-DOF.

When the bugs are fixed, 9-DOF and HD-maps will be available and working 100% of the times.