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koide3
GLIM: versatile and extensible range-based 3D localization and mapping framework
I would like to georeference GLIM maps. There is already a `gnss_global` extension module which deals with GNSS data, but it does not fully satisfy my needs. In particular: -...
I fail to understand what the graph optimization is doing in this branch: https://github.com/koide3/glim/blob/42bf6770ed3924bd33bb010279303978cd4f2b8f/src/glim/mapping/sub_mapping.cpp#L117-L161 `graph` and `values` are both local variables, and optimization output (`values`) does not seem to be...
It is 100% a mistake on my side, but I tried to use the `gnss_global` extension using `NavSatFix` messages instead of `PoseWithCovarianceStamped` messages as the module expects. Obviously it can't...
There is no mention of `CMAKE_CUDA_ARCHITECTURES` in the main documentation (https://koide3.github.io/glim/installation.html). If user cmake is recent enough (>= 3.24), then `CMAKE_CUDA_ARCHITECTURES=native` is used in `gtsam_points`, which definitely looks like a...
In `odometry_estimation_cpu.cpp`: https://github.com/koide3/glim/blob/42bf6770ed3924bd33bb010279303978cd4f2b8f/src/glim/odometry/odometry_estimation_cpu.cpp#L165-L167 There are 2 factors added to the graph: - a `BetweenFactor` factor, which constraints the motion between between 2 scans - a `PriorFactor` factor, which constraints the...
Hi all, Since the localiztion package (GLIL) is proprietary, I am looking for ideas/guidance to write a localization package/extension based on GLIM by myself. Please share if you have any...
TL; DR: Sharing that you are using GLIM (and related packages) helps the author receive recognition within his organization and enables continued work on this project. Long description: The author...
While preparing a custom dockerfile for GLIM I have observed libeigen3-dev is missing from the installation dependencies described at https://koide3.github.io/glim/installation.html. Based on the HTML documentation I wrote the following dockerfile:...
Dear Koide3, Is there a reason why the callback to on_new_frame happens before the fused estimate is computed? (before call to update_smoother) https://github.com/koide3/glim/blob/46c489e345a38ae6c06fb136000d0ce10d03fc7b/src/glim/odometry/odometry_estimation_imu.cpp#L307 The transforms in the above frame passed...
Thank you for sharing your work with such great documentation. **Is your feature request related to a problem? Please describe.** Not quite. I would like to run GLIM with the...
