strong drift in dataset about lvi-sam HOT 5 CLOSED

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from lvi-sam.

Hi @MrNeoJeep, i also meet simular problem with garden and handheld dataset. rosbag play handheld.bag --pause -r 1 ,params_camera.yaml and params_lidar.yaml are default. When trajectory drifts, terminator does not output anything, it's werid. I use with gtsam4.0.3. Did you fix this problem?

Run lvi-sam without Visual feature and odometry module, with handheld dataset, althouhg there is not strong drift, maybe because there exists some very empty scenes, it still can not get a good map.
Run lvi-sam with lio-sam's dataset campus_large_dataset.bag(there is no image topic in this bag) can get similar result as lio-sam's result.

from lvi-sam.

rosbag play handheld.bag -r 0.5 can work well, maybe because my computer is not powerful.

from lvi-sam.

@narutojxl I haven't solved this problem for the time being, it's been a long time, and I don't continue to pay attention to this code now. My computer is not powerful, and the reason for this phenomenon is unknown.

from lvi-sam.

@MrNeoJeep any news about this behavior? I have the same problem but on a custom dataset.
The strange thing is that the position topic is correct.
@narutojxl do you discover anything?

from lvi-sam.