maybe something wrong

[chengwei0427]

Hi, @SiyuanHuang95

I change the param SLIDEWINDOWSIZE from 2 to 3 in Estimator.h, and test the bag casual_walk.bag which lio_sam privode.

After lidar-imu inited, the trajectory drift .Used topics: /points_raw and /imu_raw. The extrinsics lidar -> IMU: extrinsicTrans: [0.0, 0.0, 0.0] extrinsicRot: [-1, 0, 0, 0, 1, 0, 0, 0, -1]

If set the SLIDEWINDOWSIZE=2, the program is normal.

The bag contains two imu topics(/imu_raw and /imu_correct).

If used /imu_corrcect as the imu input, The extrinsics lidar -> IMU: extrinsicTrans: [0.0, 0.0, 0.0] extrinsicRot: [1, 0, 0, 0, 1, 0, 0, 0, 1]

Whether the SLIDEWINDOWSIZE is 2 or 3, the program is normal.

It's strange, and maybe something wrong with the extrinsics params in the code.

Do you have a similar problem? Or any Suggestions?

[SiyuanHuang95]

Have not met that issue. No further suggestions could be given. When you find anything interesting, you are quite welcome to share with us.

[lhthq]

hi~ I see you issue. In the terminal, there are “cannot create a KD-Tree with an empty input cloud”？ Why?

[chengwei0427]

hi~ I see you issue. In the terminal, there are “cannot create a KD-Tree with an empty input cloud”？ Why?

There are three KD-trees, corresponding to the three types of features(edge, surf and non), you could check the three types of feature, maybe one of them is empty.

[chengwei0427]

https://github.com/TixiaoShan/LIO-SAM/issues/204

[SiyuanHuang95]

https://github.com/TixiaoShan/LIO-SAM/issues/204

Cannot catch your main idea, was the transformation matrix will cost this issue?

Real url:

https://github.com/TixiaoShan/LIO-SAM/issues/204

[SiyuanHuang95]

Since there is no further update, I will close this issue.