Open MatteoMariani99 opened 2 months ago
There could be several reasons for the issue. Could you please send me your bag and the config? I’ll help identify the problem.
Thank you for your fast reply! I have uploaded everything to the following Drive link: https://drive.google.com/drive/folders/1NkM0H5jK0iF_742M52Ox6PUHOjkEF7SA?usp=drive_link
I've already requested download access. Could you please approve it?
I have approved it.
Hello, I apologize for the delayed response. After debugging, I found that the timestamps of the LiDAR and IMU in your bag are not synchronized. You might want to check this issue (and of course, the images are completely black, which you are probably already aware of).
Thank you for your response. I will check in the next few days and then let you know.
Is it possible to use your LIDAR_IMU_init repository for the time synchronization of the lidar and the IMU?
Good morning, and thank you for sharing your work. I am working with an OUSTER OS0-128 lidar (with an internal IMU) and a ZED2 camera. All three sensors are synchronized with the same timestamp and the camera is positioned above the lidar.
I tried running the FAST-LIVO algorithm by modifying the avia_resize.yaml (zed2_resize.yaml attached file) file as you suggested.
In the first 3 seconds, the algorithm runs, and the lidar point cloud appears, but afterward, no more points are added (Add 0 3D points). Moreover, I noticed that the bias estimation for the accelerometer and gyroscope is initially set to 0 and then turns into -nan (I don't know why). Could you provide an explanation for this?