search

TixiaoShan / LVI-SAM

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
https://youtu.be/8CTl07D6Ibc
BSD 3-Clause "New" or "Revised" License
1.52k stars 453 forks source link

question about "q_lidar_to_cam q_lidar_to_cam_eigen" #19

Closed HeXu1 closed 3 years ago

HeXu1 commented 3 years ago

Hi,thanks for your great works. the code test well with your data,but it seems the vins program did not work well with my data. I’m confused about what the “question about q_lidar_to_cam q_lidar_to_cam_eigen” mean in the code. hope your reply ,thanks agian. @TixiaoShan

HeXu1 commented 3 years ago

Screenshot from 2021-06-07 15-59-37 Screenshot from 2021-06-07 15-58-28

HeXu1 commented 3 years ago

my imu align lidar well,the first show lvi-sam works with vins but vins failed,the second show lvi-sam works with lio-sam only it works well.

stale[bot] commented 3 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

epicjung commented 3 years ago

Hi,thanks for your great works. the code test well with your data,but it seems the vins program did not work well with my data. I’m confused about what the “question about q_lidar_to_cam q_lidar_to_cam_eigen” mean in the code. hope your reply ,thanks agian. @TixiaoShan

Check this repository (https://github.com/epicjung/LVI_SAM_fixed). I have changed the code for it to work for general cases. Please let me know if the modified version does not work for you.

HeXu1 commented 3 years ago

@epicjung thanks a lot. I will test it a few days later.