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PRBonn / kiss-icp

A LiDAR odometry pipeline that just works
https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf
MIT License
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Minimum distance of point clouds in KISS-ICP #396

Closed Hajun0219 closed 2 months ago

Hajun0219 commented 2 months ago

I would like to exclude certain angles or close point clouds from KISS-ICP.

Is it possible to adjust the minimum distance or angle of point clouds in KISS-ICP?

benemer commented 2 months ago

You can adjust the minimum range at which our preprocessing will clip the point clouds. Just create a config.yaml with the following

data:
  min_range: 0.0

and then pass it via the --config flag.

So far, it is not possible to mask out certain angles. What is the idea behind that? Anyway, you can also modify the preprocessing to exclude these angles.