Close range points

[EloyAldao]

Hi!!

First of all, congratulations for your work!

I'm testing the code and it seems to work well.
I'm testing it with Livox Horizon datasets, and I need to avoid too close points.

Is there any easy way to crop too near points?

Thanks in advance

[ChongjianYUAN]

Try to modify the param 'blind'. For example, if you do not want to the point with ranging < 2m, then blind should be 2.

[ChongjianYUAN]

Another comment: we have not tested IMU in the current version. If livox Horizon dataset is used, please ensure that the point cloud has been undistortion.

[EloyAldao]

Thanks
I tried enabling the IMU and it seems to work well.
Even the first scans are discarded while the IMU is calibrated (that is what the console logs)

I didn't undirstoted the pointcloud. I supose that I should use Livox-SDK/livox_cloud_undistortion to achieve this.

[ChongjianYUAN]

Thanks I tried enabling the IMU and it seems to work well. Even the first scans are discarded while the IMU is calibrated (that is what the console logs)

I didn't undirstoted the pointcloud. I supose that I should use Livox-SDK/livox_cloud_undistortion to achieve this.

If you enable the IMU, the point cloud will be undistorted by IMU. If you unable the IMU, you can use other tools to provide the undistorted point cloud. However, it only works well if the rotation matrix between IMU and Lidar is identified.

[EloyAldao]

I used the one in FAST-LIO Horizon config:
extrinsic_T: [ 0.05512, 0.02226, -0.0297 ]
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1]

It seems to work nice.
I only get some drift after a lot of scans caused I think by near points (that is why I asked for it)