The ltaom from hku-mars

运行环境

您好，我在程序运行到void extract_binary这个函数的时候，内存爆了导致进程死掉。（传入点云数量大概13万个）
报错如下：
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
所以想咨询一下您这边电脑配置是什么样的？还是说这个问题不是由于硬件环境导致的？

请问lasermapping里面的ikdtree是否只负责添加feats_down_world还有回环修正过的correctd_cloud_submap_local这些点，不会把之前添加进去的回环修正之前的错误点删除掉，这些错误点指的是从map_incremental里面添加的带有未经回环修正的feats_down_world的点。代码里没有看到KD_FOREST::Delete_Points的调用。

当然不删除也可以理解，毕竟位姿修正之后，错误点就不会被search到，不会影响lio位姿估计，而且pcd存储也是由loop_optimization_node负责。请问这些对于代码的理解正确吗？

Multilevel dataset

Hello, great work, I would like to ask when the Multilevel dataset will be made public?

can not open yaml file

Failed to open settings file at: /home/LTAOM_ws/src/LTAOM/STD/config/config_velo_nclt.yaml
may be the yaml format is invaild?

Odometry and relocalization FPS

Thanks for your great works!
Can the pose output FPS reach lidar topic frequency? In both relocalization and mapping mode.

如何保存地图

// When LTAOM execution is done, run the following to save corrected map
rosparam set /save_map true
执行完了之后，退出ros，控制台没有打印保存pcd的信息，请问我应该怎么看

Unable to build LTAOM

I am trying to build and run LTAOM using docker with the following dependencies:

Ubuntu 18
ROS Melodic
gtsam- 4.0.3
ceres-solver- 1.14.0
pcl- 1.8
gcc/g++- 9
oneTBB- 2021.12.0

I am getting the following error when I catkin_make:

Multi-session mode question

@zuhaozou2017 Thanks for your great works!
I have a question about the multi session mode:

If the two dataset only have some overlap at the middle moment, there is no overlapping area at other times. Is LTAOM suitable for this scenario? and merge 2 maps into one large map containing all areas. Thanks!

视频中序列的位置放反了

DCC03 与 KAIST03对应的场景不正确，放反了

Runtime Error `[sample_nodelet_manager-2] process has died`

I am trying to run on my bag files,

bash run_nodelet_avia.sh

bash run_loop_optimization.sh

For some reason the fastlio node dies after a few seconds, what could be the reason?

Key Frame:0, cloud size:78
[ mapping ]: time: IMU + Map + Input Downsample: 0.000871 ave match: 0.001252 ave solve: 0.000230  ave ICP: 0.000346  map incre: 0.000062 ave total: 0.002948 icp: 0.001492 construct H: 0.000087 
[sample_nodelet_manager-2] process has died [pid 2336101, exit code -11, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=sample_nodelet_manager __log:=/home/satyajit/.ros/log/81ca883e-f566-11ee-98c5-7907c0d462a3/sample_nodelet_manager-2.log].
log file: /home/satyajit/.ros/log/81ca883e-f566-11ee-98c5-7907c0d462a3/sample_nodelet_manager-2*.log
[ INFO] [1712553145.779359595]: Bond broken, exiting
[ INFO] [1712553145.875414030]: Bond broken, exiting
[loop_detection_plugin_loader-4] process has finished cleanly
log file: /home/satyajit/.ros/log/81ca883e-f566-11ee-98c5-7907c0d462a3/loop_detection_plugin_loader-4*.log
[fastlio_plugin_loader-3] process has finished cleanly
log file: /home/satyajit/.ros/log/81ca883e-f566-11ee-98c5-7907c0d462a3/fastlio_plugin_loader-3*.log
^C[rviz-5] killing on exit
[rosout-1] killing on exit

Is there something wrong in the modified FASTLIO in LTAOM?

关于Mulran数据集的golbal_pose.csv

作者你好，感谢你开源这项工作，我对他很感兴趣。我最近也在做类似的工作，但是我在测试的时候遇见了问题，想请教下。
在使用Mulran数据集的时候，golbal_pose.csv是他的真实测量值，但是我运行sc-lio-sam，得到的结果是optimized_pose.txt。我能在evo下得到这两个的轨迹，但是当我算ape或者其他值的时候，是报错的。我也试过了mulran_evaluation,但这并没有什么用处。请问下，我该如何操作？谢谢！

[sample_nodelet_manager-2] process has died

感谢您如此出色工作！不过我在使用程序处理无人机自采数据，使用的是livox avia雷达所以采用了这里的avia配置。
程序在前几十秒处理正常，没有任何问题但是当运行到八九十秒时，突然进程死掉了。以下是终端信息：
Key Frame:29, cloud size:24861
proj normal:0 0 1
[ mapping ]: time: IMU + Map + Input Downsample: 0.001146 ave match: 0.010962 ave solve: 0.001829 ave ICP: 0.013407 map incre: 0.005587 ave total: 0.019974 icp: 0.012888 construct H: 0.000486
[ mapping ]: time: IMU + Map + Input Downsample: 0.001513 ave match: 0.010974 ave solve: 0.001829 ave ICP: 0.024431 map incre: 0.005467 ave total: 0.019987 icp: 0.012901 construct H: 0.000486
[ mapping ]: time: IMU + Map + Input Downsample: 0.001399 ave match: 0.011016 ave solve: 0.001830 ave ICP: 0.050943 map incre: 0.004711 ave total: 0.020028 icp: 0.012943 construct H: 0.000486
[ mapping ]: time: IMU + Map + Input Downsample: 0.001447 ave match: 0.011023 ave solve: 0.001831 ave ICP: 0.020457 map incre: 0.004677 ave total: 0.020036 icp: 0.012951 construct H: 0.000487
[ mapping ]: time: IMU + Map + Input Downsample: 0.001433 ave match: 0.011026 ave solve: 0.001832 ave ICP: 0.016097 map incre: 0.009077 ave total: 0.020043 icp: 0.012955 construct H: 0.000487
[ mapping ]: time: IMU + Map + Input Downsample: 0.001410 ave match: 0.011026 ave solve: 0.001832 ave ICP: 0.013167 map incre: 0.009825 ave total: 0.020048 icp: 0.012955 construct H: 0.000487
[ mapping ]: time: IMU + Map + Input Downsample: 0.001520 ave match: 0.011025 ave solve: 0.001832 ave ICP: 0.012460 map incre: 0.006889 ave total: 0.020049 icp: 0.012954 construct H: 0.000487
[ mapping ]: time: IMU + Map + Input Downsample: 0.001515 ave match: 0.011024 ave solve: 0.001832 ave ICP: 0.012626 map incre: 0.006995 ave total: 0.020050 icp: 0.012954 construct H: 0.000487
[ mapping ]: time: IMU + Map + Input Downsample: 0.003588 ave match: 0.011035 ave solve: 0.001834 ave ICP: 0.024840 map incre: 0.060846 ave total: 0.020128 icp: 0.012967 construct H: 0.000488
[ mapping ]: time: IMU + Map + Input Downsample: 0.002570 ave match: 0.011063 ave solve: 0.001834 ave ICP: 0.038399 map incre: 0.018729 ave total: 0.020172 icp: 0.012995 construct H: 0.000488

Key Frame:30, cloud size:23982
proj normal:0 0 1
[ mapping ]: time: IMU + Map + Input Downsample: 0.001598 ave match: 0.011062 ave solve: 0.001834 ave ICP: 0.012016 map incre: 0.011562 ave total: 0.020177 icp: 0.012994 construct H: 0.000488
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[ mapping ]: time: IMU + Map + Input Downsample: 0.001448 ave match: 0.011101 ave solve: 0.001835 ave ICP: 0.049217 map incre: 0.008557 ave total: 0.020221 icp: 0.013034 construct H: 0.000489
[ mapping ]: time: IMU + Map + Input Downsample: 0.001358 ave match: 0.011098 ave solve: 0.001835 ave ICP: 0.009650 map incre: 0.006372 ave total: 0.020218 icp: 0.013030 construct H: 0.000489
[ mapping ]: time: IMU + Map + Input Downsample: 0.001029 ave match: 0.011091 ave solve: 0.001834 ave ICP: 0.005748 map incre: 0.005666 ave total: 0.020209 icp: 0.013022 construct H: 0.000488
[ mapping ]: time: IMU + Map + Input Downsample: 0.001188 ave match: 0.011083 ave solve: 0.001833 ave ICP: 0.005188 map incre: 0.002337 ave total: 0.020196 icp: 0.013013 construct H: 0.000488
[ mapping ]: time: IMU + Map + Input Downsample: 0.000881 ave match: 0.011078 ave solve: 0.001832 ave ICP: 0.007635 map incre: 0.001600 ave total: 0.020185 icp: 0.013007 construct H: 0.000488
[ mapping ]: time: IMU + Map + Input Downsample: 0.000563 ave match: 0.011068 ave solve: 0.001830 ave ICP: 0.003247 map incre: 0.001324 ave total: 0.020169 icp: 0.012996 construct H: 0.000487
[ mapping ]: time: IMU + Map + Input Downsample: 0.000833 ave match: 0.011059 ave solve: 0.001829 ave ICP: 0.003526 map incre: 0.002086 ave total: 0.020153 icp: 0.012986 construct H: 0.000487
[ mapping ]: time: IMU + Map + Input Downsample: 0.001172 ave match: 0.011052 ave solve: 0.001828 ave ICP: 0.005861 map incre: 0.002680 ave total: 0.020142 icp: 0.012978 construct H: 0.000487
[ mapping ]: time: IMU + Map + Input Downsample: 0.001410 ave match: 0.011055 ave solve: 0.001832 ave ICP: 0.019018 map incre: 0.014054 ave total: 0.020158 icp: 0.012984 construct H: 0.000487

Key Frame:31, cloud size:13550
[sample_nodelet_manager-2] process has died [pid 16883, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=sample_nodelet_manager __log:=/home/yy/.ros/log/358d6cf8-3f70-11ef-869f-1c1b0d30c2e1/sample_nodelet_manager-2.log].
log file: /home/yy/.ros/log/358d6cf8-3f70-11ef-869f-1c1b0d30c2e1/sample_nodelet_manager-2*.log
[ INFO] [1720693765.072400764]: Bond broken, exiting
[ INFO] [1720693765.234805624]: Bond broken, exiting
[loop_detection_plugin_loader-4] process has finished cleanly
log file: /home/yy/.ros/log/358d6cf8-3f70-11ef-869f-1c1b0d30c2e1/loop_detection_plugin_loader-4*.log
[fastlio_plugin_loader-3] process has finished cleanly
log file: /home/yy/.ros/log/358d6cf8-3f70-11ef-869f-1c1b0d30c2e1/fastlio_plugin_loader-3*.log
^C[rviz-5] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
然后也没有其他报错信息就是单纯这个节点断掉了。
闭环地图优化进程的输出打印信息如下：
[Add Odom Factor]: 19 20
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 20 21
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 21 22
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 22 23
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 23 24
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 24 25
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 25 26
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 26 27
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 27 28
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 28 29
[Optimize]: running isam2 optimization ...
[Add Odom Factor]: 29 30
[Optimize]: running isam2 optimization ...
也是比较正常的目前就不知道为什么会出现这样的缘故是程序运行到这个时候有什么处理或者有什么东西需要保存吗？

缺少CMakeLists.txt

livox驱动包里缺少CMakeLists.txt

z轴飞了

请问我在采集的较为平整的公园的数据上，建图效果很好，测试的每个点的位置和rtk的坐标对比，经纬度误差都在10cm内。用同样的参数，相同小车采集的公司园区数据，有斜坡，也有一些较窄的长道。跑的结果如下图所示


z轴明显漂移，有什么建议么？谢谢。

docker environment

hello,thank you for your great work,could you provide a docker environment as the cause of gtsam?

你好，求助，修改代码后可以运行了，但是报错[sample_nodelet_manager-1] process has died

Failed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005314 ave match: 0.016717 ave solve: 0.002462 ave ICP: 0.017212 map incre: 0.006545 ave total: 0.027436 icp: 0.019285 construct H: 0.000553
[ mapping ]: time: IMU + Map + Input Downsample: 0.001994 ave match: 0.016688 ave solve: 0.002457 ave ICP: 0.015589 map incre: 0.003411 ave total: 0.027377 icp: 0.019250 construct H: 0.000551
Failed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005657 ave match: 0.016681 ave solve: 0.002452 ave ICP: 0.018055 map incre: 0.005604 ave total: 0.027395 icp: 0.019238 construct H: 0.000550
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005730 ave match: 0.016670 ave solve: 0.002447 ave ICP: 0.017545 map incre: 0.006912 ave total: 0.027420 icp: 0.019222 construct H: 0.000549

Key Frame:0, cloud size:300113
[ mapping ]: time: IMU + Map + Input Downsample: 0.000968 ave match: 0.016658 ave solve: 0.002442 ave ICP: 0.017438 map incre: 0.003691 ave total: 0.027373 icp: 0.019204 construct H: 0.000548
/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl
[sample_nodelet_manager-1] process has died [pid 31080, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=sample_nodelet_manager __log:=/home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log].
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1*.log
[ INFO] [1718330916.081146908]: Bond broken, exiting
[ INFO] [1718330916.242622428]: Bond broken, exiting
[loop_detection_plugin_loader-3] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/loop_detection_plugin_loader-3*.log
[fastlio_plugin_loader-2] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/fastlio_plugin_loader-2*.log
^C[rviz-4] killing on exit
shutting down processing monitor...
... shutting down processing monitor completeFailed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005314 ave match: 0.016717 ave solve: 0.002462 ave ICP: 0.017212 map incre: 0.006545 ave total: 0.027436 icp: 0.019285 construct H: 0.000553
[ mapping ]: time: IMU + Map + Input Downsample: 0.001994 ave match: 0.016688 ave solve: 0.002457 ave ICP: 0.015589 map incre: 0.003411 ave total: 0.027377 icp: 0.019250 construct H: 0.000551
Failed to find match for field 't'.
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005657 ave match: 0.016681 ave solve: 0.002452 ave ICP: 0.018055 map incre: 0.005604 ave total: 0.027395 icp: 0.019238 construct H: 0.000550
Failed to find match for field 't'.
[ mapping ]: time: IMU + Map + Input Downsample: 0.005730 ave match: 0.016670 ave solve: 0.002447 ave ICP: 0.017545 map incre: 0.006912 ave total: 0.027420 icp: 0.019222 construct H: 0.000549

Key Frame:0, cloud size:300113
[ mapping ]: time: IMU + Map + Input Downsample: 0.000968 ave match: 0.016658 ave solve: 0.002442 ave ICP: 0.017438 map incre: 0.003691 ave total: 0.027373 icp: 0.019204 construct H: 0.000548
/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/lan/Documents/latom/devel/lib/libloop_detection.so: undefined symbol: _ZN3tbb10interface78internal20isolate_within_arenaERNS1_13delegate_baseEl
[sample_nodelet_manager-1] process has died [pid 31080, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=sample_nodelet_manager __log:=/home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1.log].
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/sample_nodelet_manager-1*.log
[ INFO] [1718330916.081146908]: Bond broken, exiting
[ INFO] [1718330916.242622428]: Bond broken, exiting
[loop_detection_plugin_loader-3] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/loop_detection_plugin_loader-3*.log
[fastlio_plugin_loader-2] process has finished cleanly
log file: /home/lan/.ros/log/29127d40-29ec-11ef-aca1-9cda3e61bec6/fastlio_plugin_loader-2*.log
^C[rviz-4] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete

About relocation

Thank you for sharing such excellent work in open source. I have a few questions about relocation: does this project come with a relocation module？After I read the code, I found that it needs to accept two topics: /submap_pose and /clouds_submap, but I did not find which function package publishes the above information. This caused me to run multisession_mode = 1, which did not allow relocation as described in the video. Does this package contain this module? If not, can you tell me what module you are using? Thank you so much

闭环约束雅可比矩阵

请问为什么论文和代码中闭合关键点因子的雅可比矩阵中关于位置增量的偏导是对共视点的载体坐标p1和p1求导，而不是对位姿中的平移向量t1和t2求导

关于运行程序。

我使用的是速腾的激光雷达，fast-lio部分通过修改程序，已经能跑通，但不知道如何设置loop_optimzation中的yaml中的参数，请问loopopt_config_nclt.yaml文件中的LCKPFCOV之类的参数是什么意思？针对速腾的雷达，我该怎么设置？

编译报错

CMake Error at LTAOM/STD/CMakeLists.txt:80 (add_library):
Target "loop_detection_plugin" links to target "CUDA::cublas" but the
target was not found. Perhaps a find_package() call is missing for an
IMPORTED target, or an ALIAS target is missing?

CMake Error at LTAOM/STD/CMakeLists.txt:80 (add_library):
Target "loop_detection_plugin" links to target "CUDA::cudart" but the
target was not found. Perhaps a find_package() call is missing for an
IMPORTED target, or an ALIAS target is missing?

CMake Error at LTAOM/STD/CMakeLists.txt:80 (add_library):
Target "loop_detection_plugin" links to target "CUDA::cusolver" but the
target was not found. Perhaps a find_package() call is missing for an
IMPORTED target, or an ALIAS target is missing?
你好，编译报这个错，不知道怎么解决，麻烦讲解一下，谢谢了！

关于和gps坐标对齐。

作者您好，我的小车的imu的坐标系是前左上，与激光雷达的坐标一致。想与gps的东北天的坐标对齐，方便gps的信息加入。目前完全对不上，不知道怎么修改，请问有方法么？期待您的回复，非常感谢。

关于loop_optimization

请问我能不能单独使用loop_optimization 模块到lio-sam中？能详细说一下这个模块的输入和输出么？

ikdtree_rebuild strange code (mb typo)

I think, there is some typo in line 881-890 in update_ikdtree_with_submap_corrected function in laserMapping.cpp file.
Intuitively, this should be a subfunction call with different arguments, not same ones.

Could you clarify the code?

About the note at the end of this Readme.

I have included both of the following, but still cannot compile them
//To the place between lines 97~99 of ISAM2. h

Void backup()// To line 199 of ISAM2. h

Void recover()// To line 200 of ISAM2. h

Below is the error section
6: 12: error: 'class gtsam:: ISAM2' has no member named 'backup'
826 | isam_ ->backup()// Self defined isam function, you need to compile gtsam with provided note in Readme
|^~~~~~
/Ws-LTAOM/src/LTAOM/loop-optimization/src/loop-optimization node. cpp: 874:16: error: 'class gtsam:: ISAM2' has no member named 'recover'
874 | isam_ ->recover()// Self defined isam function, you need to compile gtsam with provided note in Readme
|^~~~~~~

关于雷达的设置

我的雷达设置为从-10°到200°，这个方法能用么？

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