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vectr-ucla / direct_lidar_odometry

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.
MIT License
815 stars 168 forks source link

Initialization function #33

Closed numb0824 closed 1 year ago

numb0824 commented 1 year ago

Hi， Thanks for your great work！ I have been testing 'DLO' for a long time and its performance is excellent . In some tests, due to environmental reasons such as a particularly sparse environment, DLO results are incorrect. Of course, this is not a problem for 'DLO' itself. When this situation occurs, I don't want to shut down DLO and restart it, but rather want to initialize it, just like the initialpose function in ROS. So could you please add features like "initialpose" to 'DLO' to solve the problem of not turning off 'DLO' and continuing to run in case of inaccurate pose caused by accidents? I apologize to you if my request is very presumptuous. Thank you again for your great work .

Best wishes

kennyjchen commented 1 year ago

Hi @numb0824 -- thanks for using our work. Do you mean just re-initializing the pose? Or perhaps a complete reset of DLO?

numb0824 commented 1 year ago

Hi @numb0824 -- thanks for using our work. Do you mean just re-initializing the pose? Or perhaps a complete reset of DLO? Hi,@kennyjchen -- thanks fou your reply! I want to completely reset DLO without shutting it down.

Sincere thanks again for your great work

wienans commented 1 year ago

Hi @kennyjchen actually that would be a nice feature, to reset the Process easily without killing the launch file.

kennyjchen commented 1 year ago

Hmm... I'll have to think about this. It's a bit tricky since DLO has separate nodes for odometry and mapping. In the meanwhile, we welcome any PR's to add this functionality!