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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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Detection below 1m #219

Closed aoki-y closed 1 year ago

aoki-y commented 1 year ago

FAST-Lio seems to delete point clouds less than 1m. I want it to be less than 0.8m instead of less than 1m, which parameter should I modify?

PengKunPROO commented 1 year ago

Maybe livox avia can not collect the points less than 1m from your position?

aoki-y commented 1 year ago

Thank you for response

There is information of less than 1m in point information from Lidar. ※Since it is output in pointcloud2 format, I confirmed that the point cloud exists with rviz. However, there is no point in the output data of Fast-Lio.

"Fast-LIO WILL NOT USE THE POINT CLOSER THAN 1Meter" There is a description in the link below. https://github.com/hku-mars/fast_lio/issues/35

bianhao3321 commented 1 year ago

set param "blind" at yaml file in config

aoki-y commented 1 year ago

Thank you for answering. I solved it by changing the setting of "bling"

arjunskumar commented 1 year ago

change https://github.com/hku-mars/FAST_LIO/blob/02d022e3164cc39afdc56618a056bbaac9aa4d57/config/avia.yaml#L11 blind: 0.8

stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.