MID360激光雷达跑自己数据集时无效，while循环卡在if(!sync_packages(LidarMeasures))

[ZRS0326]

问题1,我自己的数据集是MID360雷达录制的，点云格式是livox_ros_driver2::CustomMsg，实际上与livox_ros_driver::CustomMsg一致。日志输出已获取到点云，不过LIO模块不执行，经测试卡在sync_packages(LidarMeasures)中的 meas.lidar = lidar_buffer.front(); // push the firsrt lidar topic if(meas.lidar->points.size() <= 1) { mtx_buffer.lock(); if (img_buffer.size()>0) // temp method, ignore img topic when no lidar points, keep sync { lidar_buffer.pop_front(); img_buffer.pop_front(); } mtx_buffer.unlock(); sig_buffer.notify_all(); // ROS_ERROR("out sync"); cout<<"A3"<<endl; return false; 卡在这一步 } 请问是数据集的关系吗？想要寻求解决方式。 问题2，MID360雷达也是内置IMU，但在我启动后发现IMU初始化似乎没运行。 void ImuProcess::IMU_init(const MeasureGroup &meas, StatesGroup &state_inout, int &N) { / 1. initializing the gravity, gyro bias, acc and gyro covariance 2. normalize the acceleration measurenments to unit gravity */ ROS_INFO("IMU Initializing: %.1f %%", double(N) / MAX_INI_COUNT 100); 这一步没有执行 V3D cur_acc, cur_gyr;

[fy99925]

我测试的时候也遇到这个问题，求教。

[SunZezhou]

I noticed the problem occurred with the tag of Mid360 points.

It works well for me after commenting out the following line, but I don't know what this line means.

https://github.com/hku-mars/FAST-LIVO/blob/a8918c23dc4dba7d98fa723a9fa0fc2cbdf4d977/src/preprocess.cpp#L139

[xuankuzcr]

问题1,我自己的数据集是MID360雷达录制的，点云格式是livox_ros_driver2::CustomMsg，实际上与livox_ros_driver::CustomMsg一致。日志输出已获取到点云，不过LIO模块不执行，经测试卡在sync_packages(LidarMeasures)中的 meas.lidar = lidar_buffer.front(); // push the firsrt lidar topic if(meas.lidar->points.size() <= 1) { mtx_buffer.lock(); if (img_buffer.size()>0) // temp method, ignore img topic when no lidar points, keep sync { lidar_buffer.pop_front(); img_buffer.pop_front(); } mtx_buffer.unlock(); sig_buffer.notify_all(); // ROS_ERROR("out sync"); cout<<"A3"<<endl; return false; 卡在这一步 } 请问是数据集的关系吗？想要寻求解决方式。 问题2，MID360雷达也是内置IMU，但在我启动后发现IMU初始化似乎没运行。 void ImuProcess::IMU_init(const MeasureGroup &meas, StatesGroup &state_inout, int &N) { / 1. initializing the gravity, gyro bias, acc and gyro covariance 2. normalize the acceleration measurenments to unit gravity */ ROS_INFO("IMU Initializing: %.1f %%", double(N) / MAX_INI_COUNT 100); 这一步没有执行 V3D cur_acc, cur_gyr;

核对下IMU和LiDAR之间的时间戳吧，最好打印出来。

[xuankuzcr]

I noticed the problem occurred with the tag of Mid360 points.

It works well for me after commenting out the following line, but I don't know what this line means.

https://github.com/hku-mars/FAST-LIVO/blob/a8918c23dc4dba7d98fa723a9fa0fc2cbdf4d977/src/preprocess.cpp#L139

这是通过mid360的tag判断回波的，注释掉试试？

[tdcsu]

I noticed the problem occurred with the tag of Mid360 points.

It works well for me after commenting out the following line, but I don't know what this line means.

https://github.com/hku-mars/FAST-LIVO/blob/a8918c23dc4dba7d98fa723a9fa0fc2cbdf4d977/src/preprocess.cpp#L139

Thanks for your tips, could you please tell me your sensor type of the camera