The point cloud move in a strange way !!!

[mohamedsamirx]

i try to use point slam on a rosbag of a dubai track i have tried to use ouster/points and ouster/imu of the front lidar but i got a problem so i synchronize it but it didn't read anything so i have used the gps/imu with synchronization but the map move in a strange way like this configuration common: lid_topic: "/ouster/points" imu_topic: "/gps/imu" con_frame: false # true: if you need to combine several LiDAR frames into one con_frame_num: 1 # the number of frames combined cut_frame: false # true: if you need to cut one LiDAR frame into several subframes cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency time_lag_imu_to_lidar: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)

the timesample of IMU is transferred from the current timeline to LiDAR's timeline by subtracting this value

preprocess: lidar_type: 3 # 2 #velodyne # 1 Livox Avia LiDAR scan_line: 64 # 32 #velodyne 6 avia timestamp_unit: 3 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond. blind: 2

mapping: imu_en: true start_in_aggressive_motion: false # if true, a preknown gravity should be provided in following gravity_init extrinsic_est_en: true # for aggressive motion, set this variable false imu_time_inte: 0.01 # = 1 / frequency of IMU satu_acc: 30.0 # the saturation value of IMU's acceleration. not related to the units satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units acc_norm: 9.81 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration lidar_meas_cov: 0.01 # 0.01 acc_cov_output: 500 gyr_cov_output: 1000 b_acc_cov: 0.0001 b_gyr_cov: 0.0001 imu_meas_acc_cov: 0.1 #0.1 # 2 imu_meas_omg_cov: 0.1 #0.1 # 2 gyr_cov_input: 0.01 # for IMU as input model acc_cov_input: 0.1 # for IMU as input model plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane match_s: 81 fov_degree: 180 det_range: 50.0 gravity_align: false # true to align the z axis of world frame with the direction of gravity, and the gravity direction should be specified below gravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # gravity to be aligned gravity_init: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # preknown gravity in the first IMU body frame, use when imu_en is false or start from a non-stationary state extrinsic_T: [5.835,0.025,-0.63] extrinsic_R: [ 1, 0, 0, 0, 1, 0, 0, 0, 1 ]

odometry: publish_odometry_without_downsample: false

publish: path_en: true # false: close the path output scan_publish_en: true # false: close all the point cloud output scan_bodyframe_pub_en: false # true: output the point cloud scans in IMU-body-frame

pcd_save: pcd_save_en: false interval: -1 # how many LiDAR frames saved in each pcd file;

-1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

[Joanna-HE]

Please try the new branch "point-lio-with-grid-map", it solves some implementation problems of the original code, and improves the performance. Thanks!