Comments (8)
实时跑的吗?还是录下来之后用离线来跑的?
from faster-lio.
rosbag录下来之后跑的,用的是LivoxAVIA雷达,一直都跑的同一个rosbag。排查了一下,其中一个原因是预处理的AviaHandler函数中使用了std::for_each(std::execution::par_unseq, index.begin(), index.end(), [&](const uint &i),采用并行方法的遍历可能会有随机性导致返回的cloud_out_的size每次都不同。这边改成用for循环之后还是有同样的现象,正在排查。
from faster-lio.
@HP-Yin 你好,我也遇到了相同的现象,也是用rosbag录制的数据跑的。请问定位到原因了吗?
from faster-lio.
@GavyndotLee 感觉影响不大,你可以把代码里的std::execution::unseq和std::execution::par_unseq都改用for循环试试
from faster-lio.
@HP-Yin 谢谢你的回复,改成for循环之后每次运行的结果仍然不一样。我使用的是robosense16录制的室内数据,x、y变化超过1米了。
from faster-lio.
@gaoxiang12 高博你好,我使用robosense16录制了一个室内的bag文件,用在线的方式运行,然后播放bag包。faster-lio每一次运行的结果x、y变化超过1米,按照HP-Yin的建议将std::execution::unseq、std::execution::par_unseq改为普通for循环后仍然存在这个现象。我测试了fast-lio2每次运行结果是一致的。高博能否提供一些解决方案或者思路,感谢!
from faster-lio.
Related Issues (20)
- AA-IEKF
- 只能在线运行固态雷达数据吗
- z轴漂移 HOT 1
- 请问有没有相应的ivox使用手册
- ba收敛性讨论
- 作者你好,我使用你的项目过程中将velodyne替换成Robosense的激光雷达,同时也参考了LiDAR_IMU_Init项目进行了改写。但还是报了以下错误,不知道如何修改,麻烦指导一下,谢谢。 HOT 2
- Do you have any plans to make rosbag public without requiring specific access right? HOT 2
- 疑似BUG HOT 1
- 对fastlio2和fasterlio的近邻搜索发现ivox搜索时间长 HOT 4
- 关于bags数据访问权限 HOT 1
- Anderson Acceleration for on-Manifold Iterated Error State Kalman Filters论文中是否存在笔误?
- 关于数据包bag无法访问的问题 HOT 4
- 加入RTK/GNSS数据 HOT 2
- IVox第一帧点云坐标系问题 HOT 3
- 为什么回调函数需要添加线程锁,而同步函数不需要添加线程锁? HOT 2
- There is no implementation of runtime_pos_log_enable
- 里程计发布频率 HOT 2
- 接收点云的代码中对blind的处理有误
- so3_math.h的Exp函数报错
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