Half of points in the ouster dataset have range < 1m?

TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

BSD 3-Clause "New" or "Revised" License

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Half of points in the ouster dataset have range < 1m? #88

Closed brytsknguyen closed 4 years ago

brytsknguyen commented 4 years ago

Dear author,

Thank you for sharing your code and your datasets. Everything works well as you provide. However I find something odd in the ouster dataset.

Basically I added some variables to the cloud hander in imageProjection.cpp as follows: checks

When I print out the counts, it seems like half of the ouster points are below 1m.

short_range

Is it a normal behaviour of the ouster sensor? I notice that the Velodyne dataset has only a small percentage of submeter points.

Regards

TixiaoShan commented 4 years ago

That's normal for Ouster lidar. If you take a closer look at the ground points from the Ouster lidar dataset, you will find it doesn't have many returns from the ground. These points with no returns are filled with point (0,0,0).