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PJLab-ADG / Livox-Mapping

An all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
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RTK factor #13

Closed wadefrank closed 2 years ago

wadefrank commented 2 years ago

``

            mtxPosegraph.lock();
            {
                // odom factor
                gtSAMgraph.add(gtsam::BetweenFactor<gtsam::Pose3>(prev_node_idx, curr_node_idx, poseFrom.between(poseTo), odomNoise));

                // // rtk factor 
                // if(hasRTKforThisKF) {
                //     gtsam::Pose3 poseRTK = Pose6DtoGTSAMPose3(currRTK);
                //     gtSAMgraph.add(gtsam::PriorFactor<gtsam::Pose3>(curr_node_idx, poseRTK, RTKNoise));
                //     cout << "RTK factor added at node " << curr_node_idx << endl;
                // }
                initialEstimate.insert(curr_node_idx, poseTo);                
                // runISAM2opt();
            }
            mtxPosegraph.unlock();

``

我看到你在上面代码中将因子图优化的rtk部分给注释掉了，请问是什么原因呢？ 如果我想直接用使用GNSS数据进行因子图优化，可以直接把这些注释给去掉吗？还是需要修改其他的代码？

SiyuanHuang95 commented 2 years ago

原因：Gnss标定的不好，而且园区内信号一般，加里面融合后结果反而更差，就去掉了

如果需要的话，去掉注释，统一GNSS-topic

wadefrank commented 2 years ago

好的，非常感谢！

SiyuanHuang95 commented 2 years ago

Since no update, I will close this issue. You are welcome to re-open it when there is any update.