Fix some extrinsic parameter importing problems. 6-axis IMU works now. Lidar without ring works now.

Overview

LVI-SAM-MODIFIED

This repository is a modified version of LVI-SAM.


Modification

  • Add function to get extrinsic parameters.The original code assumes there are no translation between the sensors and their parameters are written in the code. But now both our data sets and LVI-SAM official data sets are working well.
  • Add "lidar to imu extrinsics" in params_camera.yaml.
  • Add "Extrinsics (lidar -> cam)"in params_lidar.yaml.
  • Using MahonyAHRS to caculate quaternion.So you don't need to prepare a 9-axis IMU.
  • Add lidar ring calculation method,whether your lidar provides "ring" information or not,it works.

Notes

  • Most of the changes are marked by "# 修改的地方 modified".
  • If you are using VSCode and "#include xxx" prompt error,please ctrl+shit+p and enter C/C++ Edit Configurations(UI), add the following paths in Include path. /opt/ros/melodic/include/** /usr/include/**
  • Please make sure you have the same version of dependencies as LVI-SAM.If you have problems installing or importing multiple version of dependencies,you can refer to this blog.
  • You need to download and compile yaml-cpp.

Acknowledgement

Issues
  • 请问对相机坐标系确定吗?

    请问对相机坐标系确定吗?

    您好,关于图 https://github.com/skyrim835/LVI-SAM-modified/blob/d035a501fb3bb04ff074a7e1f21a8bedf44cf3bf/images/LVI-SAM-original-coordinates.png 中的坐标系,我有个有疑问。 按照LVI-SAM的原版代码 https://github.com/TixiaoShan/LVI-SAM/blob/9b9ba85e300c382a272347b32af397ca3e8a78a5/src/visual_odometry/visual_feature/feature_tracker.h#L142 雷达系应该跟您的图一样,但是相机系应该是x向右,z向前,y向下吧。 请问您对图中相机的坐标系确定吗?

    opened by h-k8888 7
My old heavily modified version of bigbase v1, it has an impulse-like scrollbar, ytd header loader, Vector3 fix + gamestate fix and some other misc changes!

Old Bigbase V1 UI This is my old ui for bigbase v1 but i dont need it anymore because the dev of solar mod menu stole it, and the new paragon menu (Fr

null 11 Jun 19, 2022
ROS package to calibrate the extrinsic parameters between LiDAR and Camera.

lidar_camera_calibrator lidar_camera_calibrator is a semi-automatic, high-precision, feature-based camera and LIDAR extrinsic calibration tool. In gen

Networked Robotics and Sytems Lab 39 Jun 21, 2022
A Nintendo Switch homebrew for importing and exporting Miis.

MiiPort A Nintendo Switch homebrew for importing and exporting Miis. Installation Download a release and then place the .nro file at sd:/switch/MiiPor

null 21 Jun 3, 2022
Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras The pre-print version of our paper is available here. The pre-release code has

HKU-Mars-Lab 186 Jun 24, 2022
A Robust LiDAR-Inertial Odometry for Livox LiDAR

LIO-Livox (A Robust LiDAR-Inertial Odometry for Livox LiDAR) This respository implements a robust LiDAR-inertial odometry system for Livox LiDAR. The

livox 291 Jun 22, 2022
Livox-Mapping - An all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR

Livox-Mapping This repository implements an all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR. The system is developed based

null 192 Jun 30, 2022
Lidar-with-velocity - Lidar with Velocity: Motion Distortion Correction of Point Clouds from Oscillating Scanning Lidars

Lidar with Velocity A robust camera and Lidar fusion based velocity estimator to undistort the pointcloud. This repository is a barebones implementati

ISEE Research Group 128 Jun 20, 2022
LIO-SAM源码详细注释,3D SLAM融合激光、IMU、GPS

LIO-SAM-DetailedNote LIO-SAM源码详细注释,3D SLAM融合激光、IMU、GPS,因子图优化。 LIO-SAM的代码十分轻量,只有四个cpp文件,很值得读一读呢。 关于LIO-SAM的论文解读,网上已经有很多文章啦,同系列的LOAM、A-LOAM、LEGO-LOAM等,在

Tao Lu 179 Jun 25, 2022
Fuses IMU readings with a complementary filter to achieve accurate pitch and roll readings.

SimpleFusion A library that fuses accelerometer and gyroscope readings quickly and easily with a complementary filter. Overview This library combines

Sean Boerhout 5 May 13, 2022
Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes

mola-imu-preintegration Integrator of IMU angular velocity readings. This repository provides: IMUIntegrator and RotationIntegrator: C++ classes to in

The MOLA SLAM framework 9 Feb 11, 2022
This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

Localization using ICP in a known map Overview This package localizes the lidar sensor in a given map using the ICP algorithm. It subscribes to lidar

Robotic Systems Lab - Legged Robotics at ETH Zürich 82 Jun 21, 2022
ROS wrapper for the family of IMU sensor devices manufactured by Witmotion Ltd.

Witmotion IMU sensor driver for ROS witmotion_ros module implements a ROS 1 wrapper for Witmotion IMU driver library. It reads the data from the famil

Elettra Scientific Computing 4 Jun 25, 2022
mCube's ultra-low-power wake-on-motion 3-axis accelerometer

MC3635 mCube's ultra-low-power wake-on-motion 3-axis accelerometer Based on mCube's Arduino demo driver, this sketch is specific for the MC3635 3-axis

Kris Winer 3 Jun 2, 2021
A simple example for 'Arduino' compatible boards to interface with I2C to the MPU-6050, a 6-axis micro-electromechanical IC

Arduino-MPU-6050 A simple example for 'Arduino' compatible boards to interface with I2C to the MPU-6050, a 6-axis micro-electromechanical IC ==About==

Ivan 1 Oct 19, 2021
Bluetooth Joystick : A wireless joystick with ESP-32 microcontroller and Dual Axis Joystick Module using the Bluetooth connectivity.

BluetoothJoystick Bluetooth Joystick : A wireless joystick with ESP-32 microcontroller and Dual Axis Joystick Module using the Bluetooth connectivity.

null 9 Feb 24, 2022
My DIY 3 Axis Camera Slider Project

3Axis Camera Slider My DIY 3 Axis Camera Slider Project Authors NEWTech-Creative * Myles Newton GitHub YouTube Original project inspiration from * Raj

NEWTech Creative 7 Jun 11, 2022
This repository is a drone attitude measurement solution with 9-axis

This repository is a drone attitude measurement solution with 9-axis

Xianhao Ji 2 Feb 14, 2022
imGuIZMO.quat is a ImGui widget: like a trackball it provides a way to rotate models, lights, or objects with mouse, and graphically visualize their position in space, also around any single axis (Shift/Ctrl/Alt/Super)

imGuIZMO.quat v3.0 imGuIZMO.quat is a ImGui widget: like a trackball it provides a way to rotate models, lights, or objects with mouse, and graphicall

Michele Morrone 254 Jun 12, 2022
Code of 4-axis cube robot.

CubeRobot In 2017, Zeguang Chang and I built a cube robot using DSP and STM32. We open source all the code of CubeRobot in this repository. You can fi

Shunli Wang (王顺利) 7 May 3, 2022