适配fastlivo2数据集效果不太好 #23
Description
您好，我使用fast-livo2的数据集，bag为HKU_Main_Building.bag，修改coco-lic的参数为：
image_width: 640 # 1280 * 0.5
image_height: 512 # 1024 * 0.5
cam_fx: 588.1437 # 1176.287 * 0.5
cam_fy: 588.1079 # 1176.215 * 0.5
cam_cx: 296.0594 # 592.118 * 0.5
cam_cy: 254.5432 # 509.086 * 0.5
cam_d0: -0.13218037625958456 # 不变
cam_d1: 0.15360732717073536 # 不变
cam_d2: 0.00036918417348059815 # 不变
cam_d3: -0.00031715324469463964 # 不变
cam_d4: 0.0
CameraExtrinsics: # camera to imu
time_offset: 0.000
Trans: [0.04771023, 0.02472947, 0.02219307]
Rot: [-0.002, -0.00366 , 0.99999,
-0.99975, 0.02212, -0.00192,
-0.02211, -0.99975, -0.00371]
对应更新Gaussian-lic的参数：
width: 640 # 1280 * 0.5
height: 512 # 1024 * 0.5
scale: 0.5
fx: 588.1437 # 1176.287 * 0.5
fy: 588.1079 # 1176.215 * 0.5
cx: 296.0594 # 592.118 * 0.5
cy: 254.5432 # 509.086 * 0.5
其余未做修改，能够运行，但是重建效果不达预期
能麻烦作者大大帮忙解答一下嘛