Running LIO on KITTI Dataset

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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Running LIO on KITTI Dataset #49

Closed geoeo closed 4 years ago

geoeo commented 4 years ago

Hello, From the commits I can see you have added support for KITTI. But From what I can tell:

The tf tree is getting visualized.
The LIDAR odometry is working

The IMU based smoothing is not working. How can I get it to work with IMU data? I tried remapping to KITTI topics but no use. Maybe I an looking at the wrong topic. The estimated trajectory should be published on /aft_mapped? correct?

geoeo commented 4 years ago

It seems to be an issue related to https://github.com/hyye/lio-mapping/issues/47. I cant seem to get the performance with the local version that the docker image has. It works in docker. One last thing: The tf tree that is visualised from the bag file is wrong. I plot the GPS position and it seems to be in-line with the aft_mapped transform

hyye commented 4 years ago

I am not sure which transform in the tf tree is wrong. Could it be related to the potential "bug" after initialization?