april-zju / clic Goto Github PK
View Code? Open in Web Editor NEW[TMECH 2023] Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM
[TMECH 2023] Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM
Does the project use a depth camera on its own acquisition data set?
Hello, does your work support VIO system?
Hello, excellent work! I get an error when testing on rosbag recorded in gazebo.
odometry_node: /home/x/ws_livox/src/clic/src/spline/trajectory.cpp:110: clic::SE3d clic::Trajectory::GetSensorPose(double, const clic::ExtrinsicParam&) const: Assertion
time_ns >= this->minTimeNs() && time_ns < this->maxTimeNs() && "[GetSensorPose] querry time not in range."' failed.`
There is no error in using other SLAM methods. Can you give some advice. Thanks again!
I am looking forward to your reply.
The following error occurs when building clic
:
In file included from /home/alex/catkin_ws/src/clic/src/lidar_odometry/livox_feature_extraction.cpp:20:
/home/alex/catkin_ws/src/clic/src/lidar_odometry/livox_feature_extraction.h:32:10: fatal error: livox_ros_driver/CustomMsg.h: No such file or directory
32 | #include <livox_ros_driver/CustomMsg.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/alex/catkin_ws/src/clic/src/lidar_odometry/lidar_odometry.cpp:23:
/home/alex/catkin_ws/src/clic/src/lidar_odometry/livox_feature_extraction.h:32:10: fatal error: livox_ros_driver/CustomMsg.h: No such file or directory
32 | #include <livox_ros_driver/CustomMsg.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/lidar_lib.dir/build.make:76: CMakeFiles/lidar_lib.dir/src/lidar_odometry/livox_feature_extraction.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/lidar_lib.dir/build.make:63: CMakeFiles/lidar_lib.dir/src/lidar_odometry/lidar_odometry.cpp.o] Error 1
In file included from /home/alex/catkin_ws/src/clic/src/lidar_odometry/velodyne_feature_extraction.cpp:20:
/home/alex/catkin_ws/src/clic/src/lidar_odometry/velodyne_feature_extraction.h:32:10: fatal error: livox_ros_driver/CustomMsg.h: No such file or directory
32 | #include <livox_ros_driver/CustomMsg.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/lidar_lib.dir/build.make:89: CMakeFiles/lidar_lib.dir/src/lidar_odometry/velodyne_feature_extraction.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:342: CMakeFiles/lidar_lib.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
To fix this, livox_ros_driver
should be included in the find_package(catkin REQUIRED COMPONENTS ...)
function within CMakeLists.txt
To correctly visualize results using the default rviz configuration, all instances of "/map" in this repo should be changed to "map".
非常感谢你们的工作,我想问的是,你们的工作可以使用多个相机吗?我想使用多个相机和多个雷达甚至多个IMU。有帮助文档吗?
期待你们的恢复
Hi, @icameling @sam1992xjh @zijinoier @zxrzju
Thanks for your great work.
I'm trying to verify the LIO system(without VIO), the performance and accuracy are excellent with many open source datasets.
But there seems something wrong with the data collected myself. Ours collect sensor is a ouster32 with a imu inside(imu 100hz) on a wheel robot. The program will be shifted during rotation, as the data can run in any other LIOs.
The question is:
Have you tested the lowest imu frequency that LIO runs on? Any suggestions about the trajectory shift?
Thanks again, and looking forward to your reply.
when building, I encounter the following error:
In file included from home/alex/catkin_ws/src/clic/src/lidar_odometry/lidar_odometry.cpp:22:0:
home/alex/catkin_ws/src/clic/src/lidar_odometry/lidar_odometry.h:22:10: fatal error: clic/feature_cloud.h: No such file or directory
#include <clic/feature_cloud.h>
^~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
It appears the clic/feature_cloud.h header file is not included in the clic
repo
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.