ywl0720 / dliom Goto Github PK

keyframes中的pose 每次全局优化后会进行矫正，而cloud从未矫正过。也就是说这些cloud各自在不同的坐标系下（它们经历过不同次数的后端优化，也就是产生该keyframe时里程计被矫正过的次数，有的可能在没有经过任何后端优化时的坐标系，有的可能处在经过若干次后端优化的坐标系）。然而代码中的构建jaccard submap时 使用这些实际上处于不同坐标系的点云进行knn计算相似度。

你好，我使用您的代码进行复现，但是我不知道要怎么进行数据集的使用，我launch文件是使用dlio.launch文件启动，我的数据集的节点是livox/lidar，livox/imu，我将launch文件进行修改并且运行代码也是按照dlio的格式写的，但是启动报错，请问是为什么？我启动的方式是不是有问题。正确的代码应该是什么

我的运行代码：
roslaunch direct_lidar_inertial_odometry dlio.launch pointcloud_topic:=/livox/lidar imu_topic:=/livox/imu

我的报错：
/home/hjy/dliom_ws/devel/lib/direct_lidar_inertial_odometry/dlio_odom_node: error while loading shared libraries: libmetis-gtsam.so: cannot open shared object file: No such file or directory
process[robot/dlio_map-3]: started with pid [17503]
/home/hjy/dliom_ws/devel/lib/direct_lidar_inertial_odometry/dlio_map_node: error while loading shared libraries: libmetis-gtsam.so: cannot open shared object file: No such file or directory
process[dlio_rviz-4]: started with pid [17504]
[robot/dlio_odom-2] process has died [pid 17502, exit code 127, cmd /home/hjy/dliom_ws/devel/lib/direct_lidar_inertial_odometry/dlio_odom_node ~pointcloud:=/livox/lidar ~imu:=/livox/imu ~odom:=dlio/odom_node/odom ~pose:=dlio/odom_node/pose ~path:=path ~kf_pose:=dlio/odom_node/keyframes ~kf_cloud:=dlio/odom_node/pointcloud/keyframe ~deskewed:=dlio/odom_node/pointcloud/deskewed __name:=dlio_odom __log:=/home/hjy/.ros/log/1a523bb0-4995-11ef-a0ef-0242ac110003/robot-dlio_odom-2.log].
log file: /home/hjy/.ros/log/1a523bb0-4995-11ef-a0ef-0242ac110003/robot-dlio_odom-2*.log
[robot/dlio_map-3] process has died [pid 17503, exit code 127, cmd /home/hjy/dliom_ws/devel/lib/direct_lidar_inertial_odometry/dlio_map_node ~keyframes:=dlio/odom_node/pointcloud/keyframe ~map:=dlio/map_node/map __name:=dlio_map __log:=/home/hjy/.ros/log/1a523bb0-4995-11ef-a0ef-0242ac110003/robot-dlio_map-3.log].
log file: /home/hjy/.ros/log/1a523bb0-4995-11ef-a0ef-0242ac110003/robot-dlio_map-3*.log

Hi, really appreciate this work. I'm getting the following error as soon as the IMU calibration completes:

+-------------------------------------------------------------------+
| Direct LiDAR-Inertial Odometry and Mapping v1.0 |
+-------------------------------------------------------------------+

Calibrating IMU for 3 seconds... done

Accel biases [xyz]: 0.31946748, -0.10318823, -19.60602570
Gyro biases [xyz]: 0.00086732, 0.00014013, -0.00075244

DLIO initialized!
[robot/dlio_odom-2] process has died [pid 20903, exit code -11, cmd /home/bil/ws/devel/lib/direct_lidar_inertial_odometry/dlio_odom_node ~pointcloud:=/robosense/helios/right ~imu:=/sbg/imu_data ~gps:=/sbg/ekf_nav_fix ~odom:=robot/odom ~pose:=robot/pose ~path:=path ~kf_pose:=robot/kf_pose ~kf_cloud:=robot/kf_cloud ~deskewed:=robot/deskewed ~kf_connect:=robot/kf_connect ~loop_constraint:=robot/loop_constraint ~global_map:=robot/global_map ~global_odom:=robot/global_odom ~odom_gps:=robot/odom_gps __name:=dlio_odom __log:=/home/bil/.ros/log/2a02dbca-5645-11ef-b970-a733887e9e32/robot-dlio_odom-2.log].
log file: /home/bil/.ros/log/2a02dbca-5645-11ef-b970-a733887e9e32/robot-dlio_odom-2*.log

Sadly, there are no informative logs.

Do you know a possible solution to this? Thank you!

作者，你好。请问你的是哪一方面导致的呢？