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PJLab-ADG / Livox-Mapping

An all-in-one and ready-to-use LiDAR-inertial odometry system for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
464 stars 106 forks source link

support other type lidar #2

Closed qweesiic closed 2 years ago

qweesiic commented 2 years ago

great job!!! does it support other type lidar, such as velodyne\robosense and so on ?

SiyuanHuang95 commented 2 years ago

Hi, thanks for your interest!

To support other types of lidar, some modification works are needed:

  1. You need one external IMU to publish the information. Also, extrinsic information is also needed.
  2. If the point cloud pattern is different from Livox, the feature extraction block needs to de updated accordingly.
  3. The backend for LIOs with different types of lidar is similar.

Bests,

qweesiic commented 2 years ago

Hi, thanks for your interest!

To support other types of lidar, some modification works are needed:

  1. You need one external IMU to publish the information. Also, extrinsic information is also needed.
  2. If the point cloud pattern is different from Livox, the feature extraction block needs to de updated accordingly.
  3. The backend for LIOs with different types of lidar is similar.

Bests,

thank you for your reply!