"Add 0 3D points" when testing with R3LIVE data. about fast-livo HOT 6 CLOSED

The dataset in R3LIVE is not hard synchronized, so FAST-LIVO cannot run directly. You need to calculate the time offset between the camera and IMU in advance and compensate it into the system.

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The dataset in R3LIVE is not hard synchronized, so FAST-LIVO cannot run directly. You need to calculate the time offset between the camera and IMU in advance and compensate it into the system.

Thanks for your reply. After compensate the time offset, the Visual odometry and map can work. Beside the time offset issue, the camera extrinsic value of R3LIVE and FAST-LIVO can be confusing, one is camera_ext_IMU, the other is camera_to_IMU.

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Yes, their external parameters are contrary to each other.

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@OliverShaoPT Could you please comment how did you include the time offset? Im curious. Thanks!

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Hi, My dataset is not hard sync too,could you tell me your ways to compensate the time offset between IMU and camera? Does it need to calib or other ways to solve it?

from fast-livo.

The dataset in R3LIVE is not hard synchronized, so FAST-LIVO cannot run directly. You need to calculate the time offset between the camera and IMU in advance and compensate it into the system.

Thanks for your reply. After compensate the time offset, the Visual odometry and map can work. Beside the time offset issue, the camera extrinsic value of R3LIVE and FAST-LIVO can be confusing, one is camera_ext_IMU, the other is camera_to_IMU.

Hello, can you share how you used fast-livo to run the degenerate sequence in the R3live dataset?

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