IMU preintegration actually not used?

[yinhaosen]

LIO-SAM_based_relocalization/src/globalLocalize.cpp

Line 463 in b162b82

if (cloudInfo.odomAvailable == true && cloudInfo.imuPreintegrationResetId == imuPreintegrationResetId)

Here, inglobalLocalize.cpp, it seems that imu preintegration odometry for prior to lidar actually cannot be used because the code of lidar incremental pose has been deleted.

[NozomiWyane]

I want to ask the same question, it seems that it didnt use the imupreintegration results in code, but I try to use it in the code. Have you tried it?

[yinhaosen]

I want to ask the same question, it seems that it didnt use the imupreintegration results in code, but I try to use it in the code. Have you tried it?

Yes. Just same as the original version of LIO-SAM but you need to do some tricks to integrate them. I have completed it a few months ago and forgotten what tricks :(