search

hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
1.26k stars 202 forks source link

When using spinning lidar, point clouds outside the camera's field of view were also colored. #60

Closed fy99925 closed 1 year ago

fy99925 commented 1 year ago

When spinning lidar was used for testing, it was found that not only visible area point clouds were registered but also invisible point clouds directly behind. I noticed that in NTU-VIRAL dataset also exists this problem. I don't know how to solve it. Screenshot 2023-03-27 10:40:18

xuankuzcr commented 1 year ago

https://github.com/hku-mars/FAST-LIVO/blob/a8918c23dc4dba7d98fa723a9fa0fc2cbdf4d977/src/laserMapping.cpp#L729 You can add V3D pf(lidar_selector->new_frame_->w2f(p_w)); if(pf[2]<0) continue; after this line.