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epicjung / LVI_SAM_fixed

Fixed the code to accommodate custom extrinsic parameters between IMU, LiDAR and camera
BSD 3-Clause "New" or "Revised" License
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Problem of KITTI dataset #1

Open hellopopyee opened 3 years ago

hellopopyee commented 3 years ago

error Thank you for your previous help. I can initialize the KITTI data set normally with your code, but this error occurred, and the lidar was unable to build a map. Although the error was reported, an inaccurate estimation result could still be obtained. Do you know why this is?

epicjung commented 3 years ago

error Thank you for your previous help. I can initialize the KITTI data set normally with your code, but this error occurred, and the lidar was unable to build a map. Although the error was reported, an inaccurate estimation result could still be obtained. Do you know why this is?

Somethings you need to check:

  1. image_topic in params_camera.yaml (as no feature extracted...)
  2. camera config (projection_parameters, etc.)
  3. pointCloudTopic in params_lidar.yaml
  4. As you are using Velodyne in KITTI data, please follow the README.md and modify the code.

Let me know if it still does not work.

epicjung commented 3 years ago

error Thank you for your previous help. I can initialize the KITTI data set normally with your code, but this error occurred, and the lidar was unable to build a map. Although the error was reported, an inaccurate estimation result could still be obtained. Do you know why this is?

Somethings you need to check:

  1. image_topic in params_camera.yaml (as no feature extracted...)
  2. camera config (projection_parameters, etc.)
  3. pointCloudTopic in params_lidar.yaml
  4. As you are using Velodyne in KITTI data, please follow the README.md and modify the code.

Let me know if it still does not work.

epicjung commented 3 years ago

@hellopopyee there has been an update in the params_camera.yaml file to use the extrinsic parameters between the lidar and imu. Please use the most recent version. This might be the problem for you.