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KIT-ISAS / lili-om

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.
GNU General Public License v3.0
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Use Livox Avia #27

Closed duanqg closed 3 years ago

duanqg commented 3 years ago

Good job！ Can I use Livox Avia to run the code？

kailaili commented 3 years ago

For the repetitive line scanning of Livox Avia, the system should be applicable given proper tuning of parameters. (We didn't test it yet).

duanqg commented 3 years ago

@kailaili thank you Is the avia Non-repetitive Circular Scanning pass your test？ Do the parameters need to be changed？ thank you！ https://www.livoxtech.com/avia

duanqg commented 3 years ago

Dear Brother Li，I would like to use the non-repeated scanning of Livox Avia to carry out SLAM of lili. Can I achieve the same effect as Livox Horizon? If debugging changes are made, where should I make the changes?

在 2021年4月29日星期四，Kailai Li @.***> 写道：

Closed #27 https://github.com/KIT-ISAS/lili-om/issues/27.

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kailaili commented 3 years ago

The system was not tailored for the scan pattern of circular shape. One could replace the feature extraction module with the one from loam_livox or something similar.

duanqg commented 3 years ago

感谢您！我使用livox avia有了很好的结果，应该是可以适配的。 但是由于MTI680G的原因，出现了拐弯部分飞起偏移的情况，这个在horizon和avia上都出现了。 然后看到了这个issue，https://github.com/KIT-ISAS/lili-om/issues/14，和我的问题一模一样，请问按照这篇文章所说的imu的angular velocity and linear acceleration x and y 在代码的哪个部分改动?

duanqg commented 3 years ago
截屏2021-05-12 上午12 20 27
bugdeveloper0 commented 2 years ago

@duanqg 哥们，你现在可以跑适配avia的包了吗

aiqibaobei commented 1 year ago

@bugdeveloper0 我尝试了自己录的avia包，可以跑的，但是因为作者的代码需要两个imu，用那个internal launch应该就可以了

Iris-Courage commented 1 year ago
截屏2021-05-12 上午12 20 27

你好！你跑avia数据时改动那些代码了呢？ 我跑的时候后端融合进程老是被杀死