Comments (5)
After reading the pinned issue, I have figured out something.So about theh dataset in https://github.com/TixiaoShan/Stevens-VLP16-Datase, how to get the correct params?
from lio-sam.
Did you change the extrinsic matrix to identity matrix?
from lio-sam.
Did you change the extrinsic matrix to identity matrix?
Yes, with the config now I can run west.bag correctly, but the dataset from Stevens-VLP16-Dataset can not be applied (the names of the topics have been renamed to /points_raw and /imu_raw)
from lio-sam.
Try these settings:
lio_sam:
# Topics
pointCloudTopic: "velodyne_points" # Point cloud data
imuTopic: "imu/data" # IMU data
odomTopic: "odometry/imu" # IMU pre-preintegration odometry, same frequency as IMU
gpsTopic: "odometry/gpsz" # GPS odometry topic from navsat, see module_navsat.launch file
# GPS Settings
useImuHeadingInitialization: true # if using GPS data, set to "true"
useGpsElevation: false # if GPS elevation is bad, set to "false"
gpsCovThreshold: 2.0 # m^2, threshold for using GPS data
poseCovThreshold: 25.0 # m^2, threshold for using GPS data
# Export settings
savePCD: false # https://github.com/TixiaoShan/LIO-SAM/issues/3
savePCDDirectory: "/Downloads/LOAM/" # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation
# Sensor Settings
N_SCAN: 16 # number of lidar channel (i.e., 16, 32, 64, 128)
Horizon_SCAN: 1800 # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048)
timeField: "time" # point timestamp field, Velodyne - "time", Ouster - "t"
downsampleRate: 1 # default: 1. Downsample your data if too many points. i.e., 16 = 64 / 4, 16 = 16 / 1
# IMU Settings
imuAccNoise: 3.9939570888238808e-03
imuGyrNoise: 1.5636343949698187e-03
imuAccBiasN: 6.4356659353532566e-05
imuGyrBiasN: 3.5640318696367613e-05
imuGravity: 9.80511
# Extrinsics (lidar -> IMU)
extrinsicTrans: [0.0, 0.0, 0.0]
# extrinsicRot: [-1, 0, 0,
# 0, 1, 0,
# 0, 0, -1]
# extrinsicRPY: [0, 1, 0,
# -1, 0, 0,
# 0, 0, 1]
extrinsicRot: [1, 0, 0,
0, 1, 0,
0, 0, 1]
extrinsicRPY: [1, 0, 0,
0, 1, 0,
0, 0, 1]
rosbag play 2018-05-18-14-49-12_0.bag --topic /velodyne_points /imu/data
from lio-sam.
Try these settings:
lio_sam: # Topics pointCloudTopic: "velodyne_points" # Point cloud data imuTopic: "imu/data" # IMU data odomTopic: "odometry/imu" # IMU pre-preintegration odometry, same frequency as IMU gpsTopic: "odometry/gpsz" # GPS odometry topic from navsat, see module_navsat.launch file # GPS Settings useImuHeadingInitialization: true # if using GPS data, set to "true" useGpsElevation: false # if GPS elevation is bad, set to "false" gpsCovThreshold: 2.0 # m^2, threshold for using GPS data poseCovThreshold: 25.0 # m^2, threshold for using GPS data # Export settings savePCD: false # https://github.com/TixiaoShan/LIO-SAM/issues/3 savePCDDirectory: "/Downloads/LOAM/" # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation # Sensor Settings N_SCAN: 16 # number of lidar channel (i.e., 16, 32, 64, 128) Horizon_SCAN: 1800 # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048) timeField: "time" # point timestamp field, Velodyne - "time", Ouster - "t" downsampleRate: 1 # default: 1. Downsample your data if too many points. i.e., 16 = 64 / 4, 16 = 16 / 1 # IMU Settings imuAccNoise: 3.9939570888238808e-03 imuGyrNoise: 1.5636343949698187e-03 imuAccBiasN: 6.4356659353532566e-05 imuGyrBiasN: 3.5640318696367613e-05 imuGravity: 9.80511 # Extrinsics (lidar -> IMU) extrinsicTrans: [0.0, 0.0, 0.0] # extrinsicRot: [-1, 0, 0, # 0, 1, 0, # 0, 0, -1] # extrinsicRPY: [0, 1, 0, # -1, 0, 0, # 0, 0, 1] extrinsicRot: [1, 0, 0, 0, 1, 0, 0, 0, 1] extrinsicRPY: [1, 0, 0, 0, 1, 0, 0, 0, 1]
rosbag play 2018-05-18-14-49-12_0.bag --topic /velodyne_points /imu/data
Thanks and I rebuild the workspace with the lastest source code, it works.
from lio-sam.
Related Issues (20)
- Could not find a connection between 'lidar_link' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. HOT 2
- mid-70 can do it?
- catkin_make的问题
- [lio_sam_imuPreintegration-1] process has died [pid 12068, exit code -6 HOT 1
- 'gtsam::ValuesKeyDoesNotExist'
- cloudExtraction() of imageProjection.cpp typo?
- Point cloud timestamp not available, deskew function disabled, system will drift significantly! HOT 3
- Robust initialization
- Increase Point Cloud Density in SLAM Mapping with unitree GO2 EDU Bot HOT 5
- Large Map Closed Loop Issue HOT 3
- Unable to View Map in Rviz with Custom Rosbag Using Livox Horizon HOT 1
- "LIO-SAM mapping range"
- Gazebo Ignition recorded ros2 bag drift randomly HOT 1
- Config for NCLT HOT 1
- Accuracy with mid 360 for indoor tracking
- point cloud data and the corresponding pose for each frame
- Large velocity, reset IMU-preintegration! error HOT 3
- docker--could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface. HOT 2
- Missing line in the ros2 branch
- Large drift and rotation upon initializing the mapping processs in ROS2
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from lio-sam.