RUN KAIST BAG

[YangSiri]

Hi, @icameling

I've just catkin_make the newest clins and change the corresponding yaml file according to the recorded bag of KAIST urban08 dataset. The bag is as below:

and the system breaks like the below

Could you please tell me where i may find the mistakes?

Looking forward to your reply! Thanks!

[YangSiri]

Hi, @icameling

I've fixed the problem. I wonder whether the extrinsic parameters can be optimized in this version of clins?

[YangSiri]

Hi, @icameling @hkwww

I collected my own data using VLP16 and MTI-300. The system goes for a while (the time is different in different dataset), then the trajectory goes crazy like the pic. Could you please give me a hint on what might cause this large drift?