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hku-mars / LiDAR_IMU_Init

[IROS2022] Robust Real-time LiDAR-inertial Initialization Method.
GNU General Public License v2.0
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在MID-360使用单独激光里程计时直接飞 #100

Closed af-doom closed 1 day ago

af-doom commented 7 months ago

您好，以下是两个数据, 运动很平稳也会飞，很奇怪 1.https://1drv.ms/u/c/be458a745a2235e4/EfaQK--VySdLjUzORxyi75QBl38c9z27gyhcdaMcyANnkw?e=bnXxpY 2.https://1drv.ms/u/c/be458a745a2235e4/EbEP13-n_apOg6g8eCvs7McBrL0A8c_ivkdTOhuarkDatg?e=lS4SY6

zfc-zfc commented 7 months ago

您好，以下是两个数据, 运动很平稳也会飞，很奇怪 1.https://1drv.ms/u/c/be458a745a2235e4/EfaQK--VySdLjUzORxyi75QBl38c9z27gyhcdaMcyANnkw?e=bnXxpY 2.https://1drv.ms/u/c/be458a745a2235e4/EbEP13-n_apOg6g8eCvs7McBrL0A8c_ivkdTOhuarkDatg?e=lS4SY6

你的数据原始频率是50Hz。现在的代码默认支持10Hz输入，然后会分帧成50Hz点云。你在driver里改成10Hz就没事了