I have initially completed the Fast-livo project and would like to share some experiences regarding the challenges encountered while reproducing this open-source project.

[wangdebin00223]

First, when I attempted to synchronize the LiDAR and camera, it still failed (indicating no synchronization). Consequently, I examined the electrical wiring, STM32 code, and serial messages; however, none of these proved useful. Ultimately, I inspected the LiDAR's M8 and M10 interfaces and found that their voltage readings were abnormal due to a damaged PPS module. Second, I recommend utilizing a single individual's open-source object. If you find another tutorial or code elsewhere, please use either that one or stick with the author's original code without mixing them; this is likely why you are unable to reproduce this object successfully. Thirdly, please assess the soldering quality of your electrical connections. During rigorous testing of the hardware I developed for constructing color point clouds, I observed significant frame drift due to two loosely soldered GND connections on the STM32 related to the camera and lidar wiring. Finally, I would like to express my gratitude for the author's assistance in enabling me to reproduce this object; I will always remember how you helped me resolve issues during late hours.

The scanning effect is as follows：

[xuankuzcr]

Thank you for your feedback and kind words😊! Your key points are very helpful:

• Code Consistency: Using a single source of code to avoid mixing tutorials.
• Soldering Quality: Ensuring proper soldering of GND connections on the STM32 related to the camera and LiDAR wiring.

I'm glad I could assist you, and your experience will certainly help others facing similar challenges. Thank you again for your support!