CanCanZeng

是的，我就是在最新的代码上测试的 @ChongjianYUAN

well, the point cloud is normal, as you can see the picture below, the red rectrangular show the affected points, since the points are too near from the wall. But...

I find a bug that in my point cloud, the uint of `time` channel is second, but it seems that in the code, the uint is us. I will change...

I tried three method: 1. change this line https://github.com/hku-mars/FAST_LIO/blob/dcc38885ac80adf3eb91028fb7f9834573ec7464/src/preprocess.cpp#L325 to `added_pt.curvature = pl_orig.points[i].time * 1000.0; // units: ms` 2. direct set added_pt.curvature to 0 3. use ring to calculate `time`...

Thank you for help me checking the data, it's very kind of you! 1. how do you get the first image? As I already find that the uint of my...

I upload one frame of lidar https://drive.google.com/file/d/1p_uTHU_xiPXPS2UmPnajckM8IarBmTcJ/view?usp=sharing you can open it in CloudCompare. when you drag it in the window of CloudCompare, select Scalar field as ring, then you can...

It's very kind of you to do that! But I don't understand, if I set `blind` to 0.5 and set `filter_size_surf` and `filter_size_map` to 0.1, why won't fast-lio2 handle this...

> @CanCanZeng 激光视觉通吃呀,牛！ 都只懂点皮毛

I also want to test the stairs dataset, but it cannot be downloaded, can you update the download link? @Zale-Liu

Finally I get it done. The environment.yaml produce by `conda env export > environment.yaml` on my computer is: ``` name: droid channels: - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main - pytorch - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge...