JaySlamer comments

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                                            JaySlamer

如何用larvio跑kaist urban dataset？

> 之前想尝试来着，数据集太大了，硬盘装不下T_T 硬盘里的电影删掉一些是不是就装得下了:)

if this code only have gps and imu without lidar，can it work and out pose？

It won't. If you have a look at the mapOptimization.cpp, you will see the whole slam process depends on the laserCloudInfoHandler callback function to triger it bit by bit.

使用odo_raw_accu时轨迹跑飞

跑了很多次，有非常大概率出现跑歪的结果。如果不进行localBA，反而效果一直很稳定很好。

problem about no loop closure

I was wondering if you haved solved this problem. i came cross the same problem when using a 2017 old-version vins-mono

Can I use lidar_IMU_calib in Ubuntu20.04 ROS noetic?

> Of course you can, I learned the magnificent code recently on ubuntu 20.04 Hi, may I ask how long it takes to finish batch optimization of garage-01 on your...

Can I use lidar_IMU_calib in Ubuntu20.04 ROS noetic?

Holy cow! Thanks. > It consumed almost  three or four hour  to  finish  the calibration.   > […](#) > ---Original--- From: ***@***.***> Date: Thu, May 5, 2022 14:35 PM To:...

Confused about the "increOdomAffine" in mapOptmization.cpp

@Lurvelly `increOdomAffine = trans2Affine3f(transformTobeMapped)` **is totally different from** ``` Eigen::Affine3f affineIncre = incrementalOdometryAffineFront.inverse() * incrementalOdometryAffineBack; increOdomAffine = increOdomAffine * affineIncre; ``` Estimation of biases of imu need lidar odometry to...

imuPreintegration node problem

What a great observation. Since the imu-preintegrations do not appear in the final global optimization, I do believe it is of little use. However, at least theoretically, it does help...

A problem of mapping

@sushan551 Hi Mind sharing your config file?