Why there are some points on the trajectory？

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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Why there are some points on the trajectory？ #42

Closed Leon1128 closed 4 years ago

Leon1128 commented 4 years ago

Hi！I use rosbag_mid100.launch to processing data from livox-mid100. The result is better than livox-mid40. But, why there are some points on the trajectory in /velodyne_cloud_registered and /laser_cloud_surround? I checked the raw data and there are no these points. How can I delete these points? Screenshot from 2020-01-04 18-27-14

ziv-lin commented 4 years ago

It seems that there have some noise data sampled near the lidar? Are your lidar blocked by the small nearby objects?

Leon1128 commented 4 years ago

I think I found the reason. There are three points at the center of three-unit of lidar of MID-100.