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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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No Effective Points! #67

Closed David9696 closed 1 year ago

David9696 commented 3 years ago

Hi,

May I know under what situation would the fastlio package report the following warning?

No Effective Points!

Once this warning is shown, the estimated Odometry would grow exponentially.

Hope you could enlighten me. Thanks

XW-HKU commented 3 years ago

Hi,

May I know under what situation would the fastlio package report the following warning?

No Effective Points!

Once this warning is shown, the estimated Odometry would grow exponentially.

Hope you could enlighten me. Thanks

There are several conditions may lead to the No Effective Points! warning:

  1. most of the points are in a very tiny space (the parameter blind controls the minimum distance fast-lio use).
  2. too less points from lidar.
  3. degeneration happened for a while.
David9696 commented 3 years ago

Hi,

Thanks for your enlightenment.

  1. Is it meant that I have to increase the parameter blind? Currently, it is set to 0.5.
  2. This error happened when I was mapping a small room with four walls. Is it what you refer as less point? Also, would decrease the parameters of "filter_size_surf" and "filter_size_map" help? Currently, they are set as 0.5.
  3. What do you meant by degeneration? Could enlighten more?

Thanks for your great helps.

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.