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Livox-SDK / LIO-Livox

A Robust LiDAR-Inertial Odometry for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
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The dynamic objects filter not work #4

Open yumingdong opened 3 years ago

yumingdong commented 3 years ago

I have used horizon lidar dataset to test this algorithm, but i found when a moved car is also keep in the mapping result. I have set
Use_seg: 1 in config/horizon_config.yaml, and other params is keep as default. I have choose the moved car cloud in the picture. 202108041618

Livox-SDK commented 3 years ago

Hi yumingdong Dynamic objects filter only applied while doing the localization not mapping; Mapping is based on the raw_point cloud data; therefore,the dynamic objects would not be filtered while mapping.

chengwei0427 commented 3 years ago

Hi, @Livox-SDK , Thanks for your great work. Is there relevant publications about this code?

Dynamic objects filter only applied while doing the localization not mapping

And where is the section about the localization? Or is the dynamic objects filter in the current code?

yumingdong commented 3 years ago

Hi, @Livox-SDK , Thanks for your great work. Is there relevant publications about this code?

Dynamic objects filter only applied while doing the localization not mapping

And where is the section about the localization? Or is the dynamic objects filter in the current code?

I have a same question, how to use dynamic objects filter in the release code.

Taeyoung96 commented 2 years ago

@chengwei0427 @yumingdong
Hi, I have the same question too.
Did you find the function that implements that dynamic object filter?

chengwei0427 commented 2 years ago

Hi, @Taeyoung96

You could find the function FeatureExtract_with_segment in ScanRegistration.cpp.

Taeyoung96 commented 2 years ago

@chengwei0427
Thanks for your reply!
Could the dynamic object filter function work on spinning LiDAR?

chengwei0427 commented 2 years ago

@chengwei0427 Thanks for your reply! Could the dynamic object filter function work on spinning LiDAR?

Cannot used for spinning LiDAR

Taeyoung96 commented 2 years ago

@chengwei0427
I find your awesome project that implements LIO-Livox with spinning LiDAR!
I have some questions about this project.
Did you apply a dynamic object filter in your project? If so, how did you apply it?

chengwei0427 commented 2 years ago

There are several differences between spinning lidar and livox lidar, cannot apply a similar dynamic filter like livox.So there is no dynamic filter in the project [lio_livox_modified]. ------------------ Original ------------------ From: "Livox-SDK/LIO-Livox" @.>; Date: Thu, Jun 9, 2022 04:25 PM @.>; @.**@.>; Subject: Re: [Livox-SDK/LIO-Livox] The dynamic objects filter not work (#4)

@chengwei0427 I find your awesome project that implements LIO-Livox with spinning LiDAR! I have some questions about this project. Did you apply a dynamic object filter in your project? If so, how did you apply it?

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Taeyoung96 commented 2 years ago

@chengwei0427
Thank you so much for your quick reply! :smile:

liujian123223 commented 1 year ago

Now that I know that point cloud dynamic target removal is only used for positioning and not for mapping, can you tell me how to save the point cloud after removing the dynamic target and publish it?

Pallav1299 commented 8 months ago

@liujian123223, this line does the segmentation for points. You could use it to output background points only. @Livox-SDK, please correct me if I'm wrong.