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hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
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Using YVT-35LX #46

Open sgk-000 opened 4 years ago

sgk-000 commented 4 years ago

Hi @hyye, Thank you for releasing this great source code. I am trying to run lio-mapping with hokuyo3d sensor. hokuyo3d sensor: https://www.hokuyo-aut.jp/search/single.php?serial=224

However I encountered below error and I don't know How I can resolve the error. screen-shot-lio

I just rotated the sensor, this system began to drift before crash. I set 2 to flag of extrinsic parameter calibration(Don't give initial guess parameters). IMU output rate is about 600hz and LRF output rate is about 10hz. how would you resolve this error? Also you processed velodyne points(maybe accumulate their points?), How would you adapt lio-mapping to work with hokuyo3d sensor?

Thanks,

hyye commented 4 years ago

Hi @sgk-000, I haven't tested this sensor. My suggestion is to modify the front-end to make the "baseline" method, like "16_scans_test.launch", work first. The error might be related to invalid lidar inputs or large errors in the state estimation.

sgk-000 commented 4 years ago

Hi @hyye Thank you for reply. I tested your code with my sensor and below error message was appeared.

Failed to find match for field 'ring'.

Actually our sensor's point cloud doesn't have ring field. I can add it, but I don't know our sensor is good for your code. Below images shows our sensor's output.

Screenshot from 2019-11-23 20-10-13 Screenshot from 2019-11-23 20-10-00

Does you code work with only spinning lidar? (It means lidar's output must have ring?). If so, I want you to suggest how I modify your code. (Actually I haven't understood PointToRing function in PointProcessor.cc)

This algorithm is essential for us. Please your help. Thank you for your cooperation.

hyye commented 4 years ago

The ring field is provided by some lidar drivers. The current front-end for extracting lidar points is only suitable for the spinning lidar. I am not sure if your lidar is similar to DJI's. If yes, you might consider adapting the feature extraction part from loam_livox to your application.