PointCloud in visualization wrong

[JACKLiuDay]

Hi, I got some new error with my own dataset. I run the LIO-SAM and save some pcd and pose. But when I launch HBA with this dataset. The visualization shows the pose correctly. But the pointcloud is wrong. The lidar is ouster-0-64U. Could you give me some advice? The transformation matrix in LIO-SAM pose graph need to be changed to fit HBA?

[wwtinwhu]

@JACKLiuDay The pose format for HBA is x,y,z,qw,qx,qy,qz. You may check whether LIO-SAM pose format is consistent with that.

[samsdolphin]

@JACKLiuDay, the point cloud should be in the imu coordinate system so that you can transform them into the world coordinate system. I guess the point cloud you used was in the world coordinate system. Hope this helps.

[JACKLiuDay]

@JACKLiuDay The pose format for HBA is x,y,z,qw,qx,qy,qz. You may check whether LIO-SAM pose format is consistent with that.

Hi, thank you for your advice. I will check it in my code.

[JACKLiuDay]

@JACKLiuDay, the point cloud should be in the imu coordinate system so that you can transform them into the world coordinate system. I guess the point cloud you used was in the world coordinate system. Hope this helps.

Hi, thank you for your quick reply. I believe the pose in LIO-SAM is world system. Becasue the pose was calculated in pose graph in LIO-SAM. I just saved the keypose and did not transform it into imu system.

[JACKLiuDay]

@JACKLiuDay, the point cloud should be in the imu coordinate system so that you can transform them into the world coordinate system. I guess the point cloud you used was in the world coordinate system. Hope this helps.

Hi, bro. I tried to transform point cloud into local frame and it worked. HBA works good. I am tring to use HBA for more dataset. Thank you for your great job.

[pauldeee]

Hi @JACKLiuDay,

Is it possible for you to share your solution?

[lvpengxiang]

I also encountered the same problem as you. Could you please tell me how you modified the code of liosam?