Questions about HBA results

[aksrb1030]

Hi.
Thanks for your great work!
I tried to my own dataset but result something wrong!
Sensor : Hesai XT32

max_iter = 30;
donwsample_size = 0.05;
voxel_szie = 2.5;
eigen_ratio = 0.05;
reject_ratio = 0.05;

Before, HBA

After, HBA

Please know how to soved!

[samsdolphin]

Hi @aksrb1030, thanks for using our work. From your screenshot, I believe the initial trajectory is of good quality and the parameter setting is fine, I think it might be due to some configuration issues. Maybe you could share your data with me, so I could try it with my laptop?

[aksrb1030]

Sure!! I sent you google drive link your email to [email protected]

[phucvinh-nguyen]

Hi @samsdolphin, i met the same problem, i realize that the x coordinate has changed sign after optimization. Please help me to solve it!

[phucvinh-nguyen]

Can i send my data to your email - [email protected]?

[tempted111]

Hi.
Thanks for your great work!
I tried to my own dataset but i do not konw how to get tx,ty,yz,qw. Are their values obtained through the mean of the point cloud？

[samsdolphin]

Hi. Thanks for your great work! I tried to my own dataset but i do not konw how to get tx,ty,yz,qw. Are their values obtained through the mean of the point cloud？

The pose of each LiDAR scan can be obtained from a general LIO system, so for example, you can use fastlio to get it.

[tempted111]

Hi. Thanks for your great work! I tried to my own dataset but i do not konw how to get tx,ty,yz,qw. Are their values obtained through the mean of the point cloud？

The pose of each LiDAR scan can be obtained from a general LIO system, so for example, you can use fastlio to get it.

Thanks, Thanks for your great work! Our data has a pose every 8ms, which generates over 8000 PCD files. Therefore, I want to merge 15 poses to form a pose for 200ms, The number of PCD file files will be reduced to about 1000. How should I merge these 15 poses? I tried to take the average of these 15 poses before, but the result was poor. Can you give me some suggestions? Thank you

[tempted111]

Hi.
Thanks for your great work!
I tried to my own dataset but result something wrong!
Before HBA:

After HBA:

Please know how to soved!

[tempted111]

I do not modify the parameter

[chengwei0427]

Hi. Thanks for your great work! I tried to my own dataset but result something wrong! Sensor : Hesai XT32

max_iter = 30;
donwsample_size = 0.05;
voxel_szie = 2.5;
eigen_ratio = 0.05;
reject_ratio = 0.05;

Before, HBA

After, HBA

Please know how to soved!

Has the problem been solved? Is there any new progress on this issue?

[chengwei0427]

Hi, @samsdolphin @aksrb1030 @tempted111 @phucvinh-nguyen

There might be a bug in the write_pose function. I've submitted a PR for it, and you can take a look at it for reference.

[yuxuanzhou97]

Hi, @samsdolphin @aksrb1030 @tempted111 @phucvinh-nguyen

There might be a bug in the write_pose function. I've submitted a PR for it, and you can take a look at it for reference.

You save me!!!