Comments (8)
I think, if pointcloud2 contains the timestamp of every lidar point (I am not sure about that yet), you may try to use Velodyne configuration to test.
Here is the performance of the Mid70 with an external IMU without sync and calibration to the lidar, just adding the offset_time to the pointcloud2. https://www.youtube.com/watch?v=-t6ghPeJXCE
looks good👍🏻
from fast_lio.
Is there any other way to use raw livox lidar data such as /livox/lidar_xxxxxxxxxx | Type: sensor_msgs/msg/PointCloud2 directly?
We are trying now.
from fast_lio.
I think, if pointcloud2 contains the timestamp of every lidar point (I am not sure about that yet), you may try to use Velodyne configuration to test.
Here is the performance of the Mid70 with an external IMU without sync and calibration to the lidar, just adding the offset_time to the pointcloud2.
https://www.youtube.com/watch?v=-t6ghPeJXCE
from fast_lio.
Thanks very much!
from fast_lio.
I think, if pointcloud2 contains the timestamp of every lidar point (I am not sure about that yet), you may try to use Velodyne configuration to test.
from fast_lio.
Thanks for your advice, I will try to check it!
from fast_lio.
I have modified the livox_ros_driver to add the offset_time to the PointCloud2 data format, and have tested on fast_lio, thanks very much for your advices!
from fast_lio.
Hi @Tomato1107 !
I'm trying to replicate what you did. I mean, to use the pointcloud2 data format for a livox horizon capture. I have a few questions hoping you can kindly help me:
- Regarding the modifications of
livox_ros_driver
to add theoffset_time
to thePointCloud2
data format, did you do something similar to this repo?
I mean, did you only add the offset_time fieldcloud_msg.fields[0].name = "offset_time";
and then you get the offset_time similar to the function FillPointsToCustomMsg from the original repo? - From the FAST-LIO repo, what handler did you use? The avia_handler or the velodyne_handler as suggested by @XW-HKU
Thank you!
NOTE: Not sure if you have it but it would be really helpful if you already have a forked repo with the modifications you did. 🙏
from fast_lio.
Related Issues (20)
- Segmentation fault in ikd-tree rebuild process, cause by "Add_by_points". HOT 2
- 建图到一半,直接停止增量建图,前面的部分也开始逐个消失 HOT 1
- About Robosense M1 Lidar HOT 1
- fatal error: fast_lio/Pose6D.h: No such file or directory. HOT 1
- fastlio+livox HOT 1
- velodyne not fit into this project. HOT 2
- About NCLT Dataset ground truth HOT 1
- Downsampling Error HOT 1
- Livox MID-360 FAST_LIO2 建图过程中地图消失问题
- Gmapping navigation HOT 3
- The fineness of point cloud display in rviz HOT 1
- 里程计输出频率问题? HOT 1
- FAST_LIO uses only one core of the CPU HOT 1
- Is IMU optional? HOT 3
- 话题/Laser_map为空 HOT 3
- Some Clarification in Code HOT 2
- Is livox_ros_driver2 required at all? HOT 3
- process has died exit code 11 HOT 4
- How to get a trajectory format that can be used for evo tool ? HOT 1
- Intitialize in known geographic coordinates HOT 1
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 fast_lio.