LVI_SAM_fixed

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Fixed the code to accommodate custom extrinsic parameters between IMU, LiDAR and camera

LVI_SAM_fixed 최신버젼 다운로드

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# LVI-SAM-MODIFIED

This repository is a modified version of [LVI_SAM](https://github.com/TixiaoShan/LVI-SAM).

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## Modification

- Custom extrinsic parameters are adopted in the code.
- The original code assumes there are no translation between the sensors. Now extrinsic parameters including both translation and rotation among IMU, Camera, LiDAR in .yaml in the ```config``` folder are correctly used.
  - params_lidar.yaml: lidar to imu extrinsic (i.e. imu pose w.r.t lidar frame)
  - params_camera.yaml: imu to cam, lidar to cam, lidar to imu extrinsic (sorry for the cubersome process...)

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## Warnings

- Currently, the code is modified to use the ```Ouster```.
- If you want to use the ```velodyne```, you have to uncomment [here](https://github.com/epicjung/LVI_SAM_fixed/blob/311368c75e3be5cc1fc631ef257bbae501b3f605/src/lidar_odometry/imageProjection.cpp#L4-L17) and [here](https://github.com/epicjung/LVI_SAM_fixed/blob/311368c75e3be5cc1fc631ef257bbae501b3f605/src/lidar_odometry/imageProjection.cpp#L523) and comment [here](https://github.com/epicjung/LVI_SAM_fixed/blob/311368c75e3be5cc1fc631ef257bbae501b3f605/src/lidar_odometry/imageProjection.cpp#L19-L35) and [here](https://github.com/epicjung/LVI_SAM_fixed/blob/311368c75e3be5cc1fc631ef257bbae501b3f605/src/lidar_odometry/imageProjection.cpp#L524).
- Also, you need to change the .yaml file. 
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## Some problems in LVI-SAM
- The paper claims the system is tightly-coupled for its lidar-depth association mechanism and initial odometry from VINS for LIO-SAM optimization.
- Yet, there are two odometries output from the system, one from VINS and one from LIO-SAM. You have to choose between the two and may require a hard switching, resulting in a sudden jump in the odometry.
- More tightly-coupled system with one single odometry output should be developed to avoid the issue.

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## Acknowledgement

- The original version is from [LVI-SAM](https://github.com/TixiaoShan/LVI-SAM).

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