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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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Experiment with NTU VIRAL dataset #39

Open brytsknguyen opened 1 year ago

brytsknguyen commented 1 year ago

Hi,

Thanks for your work and thanks for trying on NTU VIRAL dataset. The accuracy with only one lidar is quite impressive.

May I ask if you have any launch file or config for running the code with the NTU VIRAL dataset? We will be linking your work to our website https://ntu-aris.github.io/ntu_viral_dataset/

Regards

Zale-Liu commented 1 year ago

This project is a simple module to show how does our BA work. It requires a front-end to provide undistorted point clouds and initial poses to run, thus it can run with the rosbag directly. We will incorporate local BA and LIO in the future work, which can process rosbag. Thank you very much.