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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
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a bug in livox lidar feature extraction #112

Open chinahuangyong opened 2 years ago

chinahuangyong commented 2 years ago

1.get the I(P) is I(P) = R/D(P)^2, but the code is not

pt_info->sigma = pt_info->raw_intensity / pt_info->polar_dis_sq2;
if ( pt_info->sigma < m_livox_min_sigma )
{
    //cout << "Add mask, id  = " << idx << "  type = e_reflectivity_low" << endl;
    add_mask_of_point( pt_info, e_pt_reflectivity_low );
}

function [ eval_point ] image