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vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
MIT License
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Livox+px4 #4

Closed Joosoo1 closed 1 year ago

Joosoo1 commented 1 year ago

Hello author, thank you for your open source. Can DLIO be implemented using livox+px4?

kennyjchen commented 1 year ago

Hi @Joosoo1 -- yes, try using the feature/livox-support branch! I haven't tested it out with real data though, so let me know if it works or not.

Joosoo1 commented 1 year ago

Yes, thanks, I'll try it soon.

Joosoo1 commented 1 year ago

Well, I just tested DLIO on a livox mid-360 (built-in imu) and it doesn't seem to work, but it doesn't show any errors, then I tested DLO and DLO works fine, so I don't know where the error is happening, but it shouldn't be the reason for the timestamp being out of sync, because the mid-360 should be in sync. I don't know where the error occurred, but it shouldn't be the reason for the timestamp being out of sync, because mid-360 should be in sync! As you can see below, there is no next step! +-------------------------------------------------------------------+ | Direct LiDAR-Inertial Odometry v1.2.0 | +---- -------------------- -------------------------------------------+

Calibrate IMU for 3 seconds... Done

Acceleration Deviation [xyz]: 0.01453409, -0.00895136, -8.81063747 Gyroscope Deviation [xyz]: -0.00210290, 0.00037739, 0.00247880

DLIO initialization!

kennyjchen commented 1 year ago

Hmm, think you could upload a bag for me? I haven't tested that branch out since I don't have any Livox data, so I can take a look if you provide some data. Thank you.

Joosoo1 commented 1 year ago

ok, after my test, livox-mid360 can run DLIO successfully, just change the point cloud publishing form "xfer_format" to "2" in livox_ros_driver2, then it can run DLIO successfully. DLIO can be run successfully, as follows:

Effect Screenshot xfer_format