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hku-mars / r3live

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
GNU General Public License v2.0
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Bad result in MARS dateset #220

Closed XuMeng9612 closed 1 month ago

XuMeng9612 commented 1 month ago

I want to test r3live in MARS dataset (https://mars.hku.hk/dataset.html), since r3live show great result in paper "MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion". However, the result is poor in dataset HKairport01 as below, which is even worse in HKairport03: a This is my config file: Lidar_front_end: lidar_type: 1 # 1 for Livox-avia, 3 for Ouster-OS1-64 N_SCANS: 6 using_raw_point: 1 point_step: 1

r3live_common: if_dump_log: 0 # If recording ESIKF update log. [default = 0] record_offline_map: 1 # If recording offline map. [default = 1] pub_pt_minimum_views: 3 # Publish points which have been render up to "pub_pt_minimum_views" time. [default = 3] minimum_pts_size: 0.01 # The minimum distance for every two points in Global map (unit in meter). [default = 0.01] image_downsample_ratio: 1 # The downsample ratio of the input image. [default = 1] estimate_i2c_extrinsic: 1 # If enable estimate the extrinsic between camera and IMU. [default = 1] estimate_intrinsic: 1 # If enable estimate the online intrinsic calibration of the camera lens. [default = 1] maximum_vio_tracked_pts: 600 # The maximum points for tracking. [default = 600] append_global_map_point_step: 4 # The point step of append point to global map. [default = 4]

r3live_vio: image_width: 2448 image_height: 2048 camera_intrinsic: [1451.28, 0.0, 1177.5, 0.0, 1451.29, 1043.5, 0.0, 0.0, 1.0] camera_dist_coeffs: [-0.0572, 0.1209, 0.00124, -0.00018, -0.06327] #k1, k2, p1, p2, k3

camera_ext_R: [0.0032,-0.0056,0.9997, -0.9997,0.0227, 0.0045, -0.0229, -0.9994, -0.0559] camera_ext_t: [0.0317,0.0008,0.0748]

r3live_lio:
lio_update_point_step: 4 # Point step used for LIO update.
max_iteration: 2 # Maximum times of LIO esikf. lidar_time_delay: 0 # The time-offset between LiDAR and IMU, provided by user. filter_size_corner: 0.30
filter_size_surf: 0.30 filter_size_surf_z: 0.30 filter_size_map: 0.30

And, I can see warning like "IMU_Processing.cpp, 132, check_state fail !!!! 6.64556 -4.63044 -10.2575". Is there anything wrong?

stale[bot] commented 1 month ago

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