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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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oust_handler function and blind parameter #64

Closed Jaetriel closed 3 years ago

Jaetriel commented 3 years ago

Hello, I am currently studying the code of FAST-LIO but I'm trying to figure out what exactly the blind parameter does and what this check is in the lidar handler functions: if (range < blind) continue; . Is it a way to check if the point is in the minimum range of the lidar or is it something else? Thanks in advance for explaining.

XW-HKU commented 3 years ago

blind is the square of minimum distance. I will change this part in a few days

Jaetriel commented 3 years ago

okay, thank you, issue can be closed I think