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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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Livox AVIA fast lio slam? #19

Open antun008 opened 2 years ago

antun008 commented 2 years ago

Please can someone tells me what I need to change in launch file or .cpp or .h file to get good loop closure for livox avia?

I tried with this algorithm fast_lio_slam and sc_pgo founds a loot of loop_closures, but it dosen't align 3d clouds by loop closure (it found loop closure, a lot of them, but after that it dosent do nothing, and I want just to align a revisted places which are mismatched). I having double coridors of my halls in faculty (Do indoor mesauring with some changes in fast_lio: )

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Here is my raw bag file from livox avia, imu and lidar topic: https://geofhr-my.sharepoint.com/:u:/g/personal/ajakopec_geof_hr/EVO860RfOAxCjQsdN6Dvz68BgmdISTwoKXCli00A4DhSzw?e=Jnt1eJ

and I also got this error: image

Please, help me! I'm trying for a week to get good results...

antun008 commented 2 years ago

Please if anyone could explain to me what I am doing wrong for livox avia and not getting an alignment of point clouds. I tried to change cpp files because livox avia has different FOV then velodyne or oyster. And also trying to change launch files, but nothing happened with my pointclouds. the same environment doesn't fits, like in first picture on this issue

rlabs-oss commented 2 years ago

Seems all this does is the equivalent of FAST_LIO - no loop closure. Faster_LIO also doesnt directly support loop closure. It would be ideal to run the scan00x.pcd files via another tool to loop close them - or match the trajectory pose with the file thats written so e. g RTAB-MAP can work with them. Ive still not found a slam app for the Avia that loop closes...

FPSychotic commented 1 year ago

Seems all this does is the equivalent of FAST_LIO - no loop closure. Faster_LIO also doesnt directly support loop closure. It would be ideal to run the scan00x.pcd files via another tool to loop close them - or match the trajectory pose with the file thats written so e. g RTAB-MAP can work with them. Ive still not found a slam app for the Avia that loop closes...

liorf's fork of lio-sam does, loop cloure, gnss support and 6dof IMU (9dof originaly), you can substitute ICP loop closure with SC I think, but I didn't try as ICP for me is fine for the moment. If you do it, please fork it and share it here!!! haha I hope that helps