cannot run in AVIA Dataset

zijiechenrobotics / ig_lio

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry

GNU General Public License v2.0

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Open iwander-all opened 10 months ago

iwander-all commented 10 months ago

Hi, I just follow your demo line in 2.4 AVIA Dataset, but ig-lio drift and fly away quikly, how to solve it , thank you.

zijiechenrobotics commented 9 months ago

Sorry for replying late since GitHub doesn't push messages to my email!

Please tell me which sequence you tested on
Please check the log message ba_norm in the terminal. The normal value is around 0~0.5.

iwander-all commented 9 months ago

Hi, all the data in AVIA Dataset is failed. And ba_norm is 0-0.5 but bg_norm goes beyond 20.

SampsonM8 commented 9 months ago

Catch Same Error @zijiechenrobotics All Avia Datasets donnot work！