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aau-cns/mars_lib
Relative measurement

Is mars_lib lost support for relative measurement compared with ethzasl_msf? I haven t seen any part of relative measurement in source code.
question
  • Eddylib
  • 3
  • Opened 
    on Nov 12, 2024
  • #13

aau-cns/mars_lib
Weird result in `mars_thl_example.cpp`

Running the mars_thl_example (version: 0.1.0-1c08c9024dc3) I get the following output: Trajectory File: traj.csv Pose File: pose_sensor_1.csv IMU Noise Parameter: imu_n_w: [0.013 0.013 0.013 ] imu_n_bw: ...
  • golbog
  • 2
  • Opened 
    on Sep 7, 2023
  • #12

aau-cns/mars_lib
bug: residual not stored in member variable of (pose) sensor class

@antithing recently pointed out that within the pose sensor class, the calculated residual is not stored within the member variable of the inherited UpdateSensorAbsClass: https://github.com/aau-cns/mars_lib/blob/18e9a924733efbb97de76328e1713b13153e9634/source/mars/include/mars/sensors/pose/pose_sensor_class.h#L202-L204 ...
  • mascheiber
  • 1
  • Opened 
    on Aug 28, 2023
  • #11

aau-cns/mars_lib
Problems about world frame

As used in the project and specified in docs, the mars_lib uses ENU as world frame of core states. Then, if we want to fuse imu with 6DOF poses which use NED as world frame, shouldn t we do some transformations ...
  • brick-ai
  • 2
  • Opened 
    on Aug 23, 2023
  • #10

aau-cns/mars_lib
Pose and IMU data fusion, adapting e2e example.

Hi, I am setting up a system to use pose data (from aruco markers) and fuse it with IMU data. I have everything compiling and running, but when I print the filter result, it is very different from the ...
  • antithing
  • 31
  • Opened 
    on Jul 6, 2023
  • #9

aau-cns/mars_lib
Googletest, warning treated as error in debug build with GCC11

The previous Googletest version produces errors during the debug build with a newer GCC version (GCC 11) used by Ubuntu 22.04 currently used as runs-on: ubuntu-latest for Github workflows. In file included ...
  • Chris-Bee
  • 1
  • Opened 
    on Jun 30, 2023
  • #8

aau-cns/mars_lib
Initialization problem

Thanks for sharing. I use this work fusing imu and GPS data, then aligning lidar points, when I test it using Kitti datasets, the first 50s result is wrong. Does this work need static initialization or ...
  • valenbase
  • 1
  • Opened 
    on Jun 10, 2023
  • #7

aau-cns/mars_lib
About the example of mars_thl

Hi authors, thanks for your work! I tried running the example provided in your code, but it prompted that the traj.csv and pose_sensor_1.csv file are missing the headers. So I added headers in these files ...
  • dmkr001
  • 8
  • Opened 
    on Jun 6, 2023
  • #6

aau-cns/mars_lib
Problems about Chi2 rejection

Thanks for your work.
  • HouChentripleg
  • 4
  • Opened 
    on May 8, 2023
  • #5

aau-cns/mars_lib
Asynchronous fusion of multi-sensor data

Hi and thanks for your work! I want to study an asynchronous multi-camera system, is this code suitable for the purpose, is there any relevant case?
  • WuZihao12
  • 7
  • Opened 
    on Apr 27, 2023
  • #4
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