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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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replacing Livox_lio with FAST_LIO_2 #6

Closed sukhrajklair closed 2 years ago

sukhrajklair commented 2 years ago

Hi Thank you for putting this together.

We are using Mid-70 which we find working best with FAST_LIO_2. I was thinking of replacing LIO_LIVOX with FAST_LIO_2 for LIO and use a separate node to estimate ground plane (perhaps the one from hdl_graph_slam). However, I couldn't find where the ground constraint is added and how does SC_PGO receives the ground plane information (via topic?) Any pointers/hints would be much appreciated.

Regards, Sukhraj Klair

SiyuanHuang95 commented 2 years ago

Hi

Thanks for your interest in our project.

We add all ground-related constraints in LIO-Livox part.

For global constraint, refer to: https://github.com/PJLab-ADG/Livox-Mapping/blob/e896e6f0a09163eb2e8f22e63fee0024df03350e/LIO-Livox/src/lio/Estimator.cpp#L907

For single-frame parameter calculation, refer to: https://github.com/PJLab-ADG/Livox-Mapping/blob/e896e6f0a09163eb2e8f22e63fee0024df03350e/LIO-Livox/src/lio/PoseEstimation.cpp#L554

For the addition of constraint, refer to: https://github.com/PJLab-ADG/Livox-Mapping/blob/e896e6f0a09163eb2e8f22e63fee0024df03350e/LIO-Livox/src/lio/Estimator.cpp#L1020

For the specific constraint value calculation, refer to: https://github.com/PJLab-ADG/Livox-Mapping/blob/e896e6f0a09163eb2e8f22e63fee0024df03350e/LIO-Livox/include/utils/ceresfunc.h#L322

Bests, Siyuan

sukhrajklair commented 2 years ago

Ah I see. Thank you.