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View Code? Open in Web Editor NEW[TMECH 2023] Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM
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minho3 aust-hansen mastery0416 hit-ygq wolf943134497 gatsby23 liuxinren456852 beamrobotics hunkyu slamplus wanglei-whu wuzihao12 brytsknguyen kinggreat24 qian5683 zhl8223 zhongchong7 yunhui-li thinh241819 dodeakim lurvelly kj-falloutlast haohaoaltclic's Issues
system usage problem
Hello, does your work support VIO system?
Does the project use a depth camera on its own acquisition data set?
Does the project use a depth camera on its own acquisition data set?
fatal error: clic/feature_cloud.h: No such file or directory
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
Test error on rosbag
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!
No such file or directory #include <livox_ros_driver/CustomMsg.h>
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
传感器使用相关
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
Question about LIO sensor config
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.
Support livox-mid360?
I am looking forward to your reply.
frame_id "/map" should be changed to "map"
To correctly visualize results using the default rviz configuration, all instances of "/map" in this repo should be changed to "map".
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