The dynamic objects filter not work

[yumingdong]

I have used horizon lidar dataset to test this algorithm, but i found when a moved car is also keep in the mapping result. I have set
Use_seg: 1 in config/horizon_config.yaml, and other params is keep as default. I have choose the moved car cloud in the picture.

[Livox-SDK]

Hi yumingdong Dynamic objects filter only applied while doing the localization not mapping; Mapping is based on the raw_point cloud data; therefore,the dynamic objects would not be filtered while mapping.

[chengwei0427]

Hi, @Livox-SDK , Thanks for your great work. Is there relevant publications about this code?

Dynamic objects filter only applied while doing the localization not mapping

And where is the section about the localization? Or is the dynamic objects filter in the current code?

[yumingdong]

Hi, @Livox-SDK , Thanks for your great work. Is there relevant publications about this code?

Dynamic objects filter only applied while doing the localization not mapping

And where is the section about the localization? Or is the dynamic objects filter in the current code?

I have a same question, how to use dynamic objects filter in the release code.

[Taeyoung96]

@chengwei0427 @yumingdong
Hi, I have the same question too.
Did you find the function that implements that dynamic object filter?

[chengwei0427]

Hi, @Taeyoung96

You could find the function FeatureExtract_with_segment in ScanRegistration.cpp.

[Taeyoung96]

@chengwei0427
Thanks for your reply!
Could the dynamic object filter function work on spinning LiDAR?

[chengwei0427]

@chengwei0427 Thanks for your reply! Could the dynamic object filter function work on spinning LiDAR?

Cannot used for spinning LiDAR

[Taeyoung96]

@chengwei0427
I find your awesome project that implements LIO-Livox with spinning LiDAR!
I have some questions about this project.
Did you apply a dynamic object filter in your project? If so, how did you apply it?

[chengwei0427]

There are several differences between spinning lidar and livox lidar, cannot apply a similar dynamic filter like livox.So there is no dynamic filter in the project [lio_livox_modified]. ------------------ Original ------------------ From: "Livox-SDK/LIO-Livox" @.>; Date: Thu, Jun 9, 2022 04:25 PM @.>; @.@.>; Subject: Re: [Livox-SDK/LIO-Livox] The dynamic objects filter not work (#4)

@chengwei0427 I find your awesome project that implements LIO-Livox with spinning LiDAR! I have some questions about this project. Did you apply a dynamic object filter in your project? If so, how did you apply it?

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[Taeyoung96]

@chengwei0427
Thank you so much for your quick reply! :smile:

[liujian123223]

Now that I know that point cloud dynamic target removal is only used for positioning and not for mapping, can you tell me how to save the point cloud after removing the dynamic target and publish it?

[pallavbhalla]

@liujian123223, this line does the segmentation for points. You could use it to output background points only. @Livox-SDK, please correct me if I'm wrong.