使用velodyne16建图效果不佳，不如fast_lio建图清晰

[BG2CRW]

config文件中改成这样，实现对velodyne16的支持

common: lid_topic: "/velodyne_points" imu_topic: "/imu_data"

preprocess: lidar_type: 2 # Velodyne LiDAR scan_line: 16 blind: 4 # blind x m disable

mapping: acc_cov_scale: 100 gyr_cov_scale: 10000 fov_degree: 359 extrinsic_T: [ 0.0, 0.0, 0.28 ] extrinsic_R: [ 1, 0, 0, 0, 1, 0, 0, 0, 1]

camera: img_topic: /left_camera/image

xiyuan

Rcl: [0.00162756,-0.999991,0.00390957,
     -0.0126748,-0.00392989,-0.999912,
      0.999918,0.00157786,-0.012681]
Pcl: [0.0409257, 0.0318424, -0.0927219]

把img_enable设成0，只看激光部分效果，建图效果不佳，不知作者是否知道是啥问题

带上色之后，效果就更差了

[BG2CRW]

[xuankuzcr]

你可以把数据bag，Camera内参，LiDAR IMU / LiDAR Camera外参，LiDAR IMU / LiDAR Camera时差，发给我我来看看问题在哪。

[sumedhfb]

你可以把数据bag，Camera内参，LiDAR IMU / LiDAR Camera外参，LiDAR IMU / LiDAR Camera时差，发给我我来看看问题在哪。

@xuankuzcr I am trying to use the system with Velodyne VLP-16 and a ZED2 Camera. And I keep running into the "ERROR: process has died [pid 27955, exit code -11, cmd /home/nano/preston_ws/devel/lib/fast_livo/fastlivo_mapping __name:=laserMapping"

While I followed the above changes in the config file, I am not sure if I am missing something. Please help me out

[xuankuzcr]

你可以把数据bag，Camera内参，LiDAR IMU / LiDAR Camera外参，LiDAR IMU / LiDAR Camera时差，发给我我来看看问题在哪。

@xuankuzcr I am trying to use the system with Velodyne VLP-16 and a ZED2 Camera. And I keep running into the "ERROR: process has died [pid 27955, exit code -11, cmd /home/nano/preston_ws/devel/lib/fast_livo/fastlivo_mapping __name:=laserMapping"

While I followed the above changes in the config file, I am not sure if I am missing something. Please help me out

Can you share the bag and parameters with me?