diff --git a/README.md b/README.md index 5db16cd..9af252b 100644 --- a/README.md +++ b/README.md @@ -91,8 +91,7 @@ Due to the special IMU (the Euler angle coordinate system is different from the

drawing

- -==**Note**==: **For most of the IMUs, the Euler angle coordinate system is same as the angular velocity and angular velocity coordinate system**. So the above parameters should be set as follows. +**Note**: **For most of the IMUs, the Euler angle coordinate system is same as the angular velocity and angular velocity coordinate system**. So the above parameters should be set as follows. ```yaml ## 对绝大多数IMU来说，下面三个值分别是"+z", "+y", "+x" (for most of IMUs, the following config is "+z", "+y", "+x") @@ -179,9 +178,9 @@ Due to the special IMU (the Euler angle coordinate system is different from the - Results on UrbanNav-HK-Data20200314: -

drawing

+

drawing

-3. KITTI Dataset +3. [KITTI raw dataset](https://www.cvlibs.net/datasets/kitti/raw_data.php) - Run the launch file: @@ -189,7 +188,7 @@ Due to the special IMU (the Euler angle coordinate system is different from the roslaunch lvi_sam KITTI.launch ``` - - Play existing bag files. If you want to use KITTI dataset, you need to get rosbag files firstly. You can get it refer to [LIO-SAM/config/doc/kitti2bag](https://github.com/TixiaoShan/LIO-SAM/tree/master/config/doc/kitti2bag). Here we use KITTI_2011_09_26_drive_0084_synced raw data to get rosbag file. The transformed rosbag file can get at [this link](https://1drv.ms/u/s!AqYajE_ft9lwg0tuhqyZqd4MUjqp?e=hnvkZo). + - Play existing bag files. Please note that you must use **KITTI raw dataset** rather than KITTI Odometry dataset, because the latter's IMU frequency is too low. If you want to use KITTI raw dataset for LVI-SAM, you need to get rosbag files firstly. You can get it refer to [LIO-SAM/config/doc/kitti2bag](https://github.com/TixiaoShan/LIO-SAM/tree/master/config/doc/kitti2bag). Here we use KITTI_2011_09_26_drive_0084_synced raw data to get rosbag file. The transformed rosbag file can get at [this link](https://1drv.ms/u/s!AqYajE_ft9lwg0tuhqyZqd4MUjqp?e=hnvkZo). ``` rosbag play kitti_2011_09_26_drive_0084_synced.bag @@ -198,7 +197,7 @@ Due to the special IMU (the Euler angle coordinate system is different from the - Results of our's modified code on kitti_2011_09_26_drive_0084_synced.bag:

- drawing + drawing

3. [My test dataset](https://1drv.ms/u/s!AqYajE_ft9lwg0paJQu_DRzU-GQ5?e=A95yfn) @@ -221,7 +220,7 @@ Due to the special IMU (the Euler angle coordinate system is different from the drawing

- - Results of our's modified code on our self 0117-1525.bag (Device is not same as backbag.bag, so it has another params. However, sorry for privacy issues, this data package can not open source): + - Results of our's modified code on our own 0117-1525.bag (Device is not same as backbag.bag, so it has another params. However, sorry for privacy issues, this data package can not open source): ``` roslaunch lvi_sam ljj.launch @@ -244,7 +243,8 @@ Due to the special IMU (the Euler angle coordinate system is different from the ## Notes -If you want to know what changes I made and why they make sense, you can refer to my blog: [LVI-SAM坐标系外参分析与代码修改，以适配各种数据集](https://blog.csdn.net/qq_42731705/article/details/128344179). +- This code just modified the extrinsic config of LVI-SAM for easier using. Its purpose is to allow you to adapt to other datasets and your own devices faster. So it does not modify the algorithm part of LVI-SAM. +- If you want to know what changes I made and why they make sense, you can refer to my blog: [LVI-SAM坐标系外参分析与代码修改，以适配各种数据集](https://blog.csdn.net/qq_42731705/article/details/128344179). --- diff --git a/doc/cover.png b/doc/cover.png deleted file mode 100644 index 3e6667b..0000000 Binary files a/doc/cover.png and /dev/null differ diff --git a/doc/demo.gif b/doc/demo.gif deleted file mode 100644 index 5f86d41..0000000 Binary files a/doc/demo.gif and /dev/null differ diff --git a/doc/handheld-earth.png b/doc/handheld-earth.png deleted file mode 100644 index daec0b6..0000000 Binary files a/doc/handheld-earth.png and /dev/null differ diff --git a/doc/jackal-earth.png b/doc/jackal-earth.png deleted file mode 100644 index 40c7e39..0000000 Binary files a/doc/jackal-earth.png and /dev/null differ diff --git a/doc/kitti.gif b/doc/kitti.gif deleted file mode 100644 index e3422a2..0000000 Binary files a/doc/kitti.gif and /dev/null differ diff --git a/doc/kitti.png b/doc/kitti.png new file mode 100644 index 0000000..0896f44 Binary files /dev/null and b/doc/kitti.png differ diff --git a/doc/ljj.png b/doc/ljj.png deleted file mode 100644 index 85775e8..0000000 Binary files a/doc/ljj.png and /dev/null differ diff --git a/doc/sensor.jpeg b/doc/sensor.jpeg deleted file mode 100644 index bab38c1..0000000 Binary files a/doc/sensor.jpeg and /dev/null differ diff --git a/doc/urbannav.gif b/doc/urbannav.gif deleted file mode 100644 index 009d621..0000000 Binary files a/doc/urbannav.gif and /dev/null differ diff --git a/doc/urbannav.png b/doc/urbannav.png new file mode 100644 index 0000000..6b7d14e Binary files /dev/null and b/doc/urbannav.png differ