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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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indoor env #269

Closed Shai2022 closed 1 year ago

Shai2022 commented 1 year ago

Hello! I have a problem in an indoor environment. I'm using an Ouster LiDAR, and the localization seems fine. However, the registered point cloud and map are missing a lot of the environment. I think this might be because some objects close to the LiDAR are causing issues. Can you help me find the part of the code that's might causing this ?

Ecstasy-EC commented 1 year ago

Hi. Sorry for the late reply. There is one parameter for blinding the lidar points which are close to the LiDAR. In the config file, you could change the blind to a smaller value (the unit is a meter).

Shai2022 commented 1 year ago

Thanks !