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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
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the transformation between your lidar and imu? #4

Closed nonlinear1 closed 2 years ago

nonlinear1 commented 2 years ago

I use a vlp16 lidar and a microstran imu(3DM-GX5-25) to run your program. But I failed. I think my transformation between imu and lidar is different from yours. So could you tell your true transformation between imu and lidar. the following pitcure is my configuration: 453670779 Thank you very much!

kennyjchen commented 2 years ago

Hi @nonlinear1, could you elaborate a bit on how it's failing? Could you try disabling the IMU by setting imu: false in cfg/dlo.yaml?

nonlinear1 commented 2 years ago

Thank you for your help! I have set imu: false in cfg/dlo.yaml adopting your suggestion. But I still failed . see the following pictures

1861169299 715083198

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kennyjchen commented 2 years ago

Lol yeah that definitely doesn't look right. Does it work with the test bag? I see that you're on v1.0.0; can you try using the latest code on the master branch? And can you record me a bag with your own data so I can help debug?

nonlinear1 commented 2 years ago

Thank you very much! I solve the problem. I change the configuration of my vlp16. Your slam is very good! 536124077

nonlinear1 commented 2 years ago

I solve this problem. I change my vlp16 configuration and I got the good result

kennyjchen commented 2 years ago

Nice! Glad to hear that.