Ata Parlar

You can try to increase `patch_pyrimid_level` parameter [here](https://github.com/hku-mars/FAST-LIVO2/blob/main/config/avia.yaml#L34) until it is useless for your resolution and configuration. If it cannot find any feature points, the effect of the vio to...

> > 你可以尝试增加`patch_pyrimid_level`参数[在这里](https://github.com/hku-mars/FAST-LIVO2/blob/main/config/avia.yaml#L34)，直到它对你的分辨率和配置无济于事。如果它无法找到任何特征点，vio对位置的影响将为零。我已经以这种方式提高了性能。 > > 你的意思相当于只用LIO了，相机只剩赋色的作用吗，这样的话，里程计精度如何呀 My setup contains livox mid360 lidars. I don't have any comparison metrics but it works good even without the visual odometry. It is preferable...