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MapsHD / HDMapping

GNU General Public License v3.0
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Other Livox Lidar support #62

Closed 85256638 closed 2 months ago

85256638 commented 2 months ago

Thanks for sharing this outstanding work! I was wondering whether this project can be modified to support other non-repetitive lidars from Livox such as the Avia and Horizon? If so, what changes i need to adapt?

Thanks!

JanuszBedkowski commented 2 months ago

It is working out of the box with Livox hap https://github.com/JanuszBedkowski/mandeye_controller.

Livox AVIA requires LIVOX SDK1, thus little effort is needed to prepare data.

Generally speaking, it should work for LiDAR with synchronized IMU.

IMG_1233

85256638 commented 2 months ago

Thanks a lot, I shall modify the driver to replace it with the Livox SDK1. In terms of the accuracy, how does this work compare with FASTLIO2? Thanks again!

JanuszBedkowski commented 2 months ago

Before it please check https://github.com/JanuszBedkowski/mandeye_controller/tree/mp/livox_sdk1_vn100

This was tested with AVIA

The comparison with FASTLIO2 is in progress. Please keep in mind that FASTLIO2 is for mobile robots, software here is offline (dedicated for Geo-Science) thus it is not so good idea to compare it.