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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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Problem with Riverside datasets #22

Open antun008 opened 2 years ago

antun008 commented 2 years ago

I'm having this problem when runing one of the riverside datasets: image image

I looked into https://github.com/gisbi-kim/FAST_LIO_SLAM/issues/10, but this doesn't help me, because when I go in RVIZ, there is nothing happening, it dosent want to visualize any pointcloud2 topic

ManChrys commented 2 years ago

RVIZ doesn't work because it tries to read Ambient ring etc and the riverside data has XYZI data.

antun008 commented 2 years ago

You are saying that although the rviz shows nothing, the algorithm still runs in the background? And thanks for answer, can you maybe explain how can I change this to work and to see what happens in rviz? Beacuse, on videos by authors, it can see in rviz pointcloud registered by ouster64.

ManChrys commented 2 years ago

Every lidar has its own output format!! For example RS lidars have XYZ or XYZI format, velodyne lidars have XYZIR or XYZIRT. So running this project the package trying to read ambient ring etc, while oyster LiDAR has XYZIR data. So you are trying to insert XYZIR data to a package which trying to find ambient ring etc data. That's why even if the package is running properly you can't visualize the data.