OS1-128 Internal IMU

Question

OS1-128 Internal IMU

Closed this issue 3 months ago · 3 comments

CantLooseToAMoose commented 3 months ago

When using the Ouster's internal IMU I get a Large velocity, reset IMU-preintegration! warning.
It also seems like the sensors position is jumping around when trying to construct the map.
How would I set it up to work with an internal IMU the right way? I used the run_lio_sam_ouster.launch file and did not change the config file.

Answer 1 · 2024-06-04T08:33:59.000Z

Try to change imuRate from 500 to 100, because ouster imu rate is 100. Besides, extrinsicRot should change to [-1,0,0,0,-1,0,0,0,1]. Good luck.

Answer 2 · 2024-06-04T10:28:02.000Z

Try to change imuRate from 500 to 100, because ouster imu rate is 100. Besides, extrinsicRot should change to [-1,0,0,0,-1,0,0,0,1]. Good luck.

Sadly I tried that already..

Answer 3 · 2024-06-11T13:00:02.000Z

Turns out my recorded bag file was from a really tight indoor space and I had to reduce the voxel size significantly lower to something like 0.1 for the algorithm to work.