search

hku-mars / Point-LIO

Other
745 stars 124 forks source link

IMU initializing #10

Closed xbnz-1997 closed 1 year ago

xbnz-1997 commented 1 year ago

Hi，author! Thanks for your great work.When I run your code with my datasets, the following content appears. It remained at 67% until the end of the dataset play, accompanied by a big drift.

image

image

Joanna-HE commented 1 year ago

There is a unclear indication in the current code of Point-LIO, when the IMU initialization finished, the 100% would not show in the terminal screen. I have made this indiction of IMU initialization process clear in the new commit. and the drift in your pic has nothing to do with the IMU initialization process, which type of LiDAR do you use? And have you made a right value for 'satu_acc', 'satu_gyro' and 'acc_norm' according to the IMU you use?

xbnz-1997 commented 1 year ago

The type of lidar is livox avia, same as you, do I still need to make changes to it?

Joanna-HE commented 1 year ago

Yes, should make changes according to the measuring ranges and units of the IMU you use.

寄件者: xbnz-1997 @.> 寄件日期: 2023年3月28日 上午 09:55 收件者: hku-mars/Point-LIO @.> 副本: @. @.>; Comment @.***> 主旨: Re: [hku-mars/Point-LIO] IMU initializing (Issue #10)

The type of lidar is livox avia, same as you, do I still need to make changes to it?

— Reply to this email directly, view it on GitHubhttps://github.com/hku-mars/Point-LIO/issues/10#issuecomment-1486093575, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ANJUIXTQ53DC2UDKVPVC43TW6JAIPANCNFSM6AAAAAAWI3JCVE. You are receiving this because you commented.Message ID: @.***>

xbnz-1997 commented 1 year ago

The IMU what I use is livox avia lidar build-in，so could you tell me how to change the value for 'satu_acc', 'satu_gyro' and 'acc_norm'?

xbnz-1997 commented 1 year ago

By the way, when will the datasets be published?

Joanna-HE commented 1 year ago

Firtstly, make sure that you know the measuring ranges of the IMU you used (3 g and 35 rad/s for built-in IMU of livox avia by default, but they could be changed according to your implementation), and the unit of the accelerator of your IMU (g by default, but could also be changed). If all the values are default without any changes, satu_acc = 3, satu_gyro = 35, and acc_norm = 1.0. If you make any changes, the exact values for those parameters could be modified according to the comments in yaml file.

The datasets are already published.

Thanks for your patience!

xbnz-1997 commented 1 year ago

ok, thank you very much!