use for livox mid70

[gongyue666]

Hi I am using livox mid70 and a extern IMU. the problem is that lidarFeatureExtractor node always output logs: too few ground points. and the other nodes seem run nothing. I have change the horizon_config.yaml to mid70.yaml like this:

`%YAML:1.0

switches

Lidar_Type: 0 # 0-horizon
Used_Line: 1 # lines used for lio, set to 1~6
Feature_Mode: 0 # 0(false) or 1(true)
NumCurvSize: 2
DistanceFaraway: 100 # [m] <DistanceFaraway near / >DistanceFaraway far
NumFlat: 3 # nums of one part's flat feature
PartNum: 150 # nums of one scan's parts
FlatThreshold: 0.02 # cloud curvature threshold of flat feature
BreakCornerDis: 1 # break distance of break points
LidarNearestDis: 0.50 # if(depth < LidarNearestDis) do not use this point
KdTreeCornerOutlierDis: 0.2 # corner filter threshold
Use_seg: 1 # use segment algorithm
map_skip_frame: 2`

how can I modify the params to make the project can work with mid 70?

[Siyuan Huang]

Too few ground points are the result of feature extraction. Could you provide some screenshots?

[gongyue666]

Hi here is my dataset, please check it .link: https://pan.baidu.com/s/1pqkD3g8qxr91m2cVe0nv9w key code: 1sie
by the way, my livox sensor is not install towards the front of the robot, but a little upward to the ceiling(about 45 degree)

[Siyuan Huang]

Thanks for your sharing.

Currently, no much time to test your bag. Will try it in the near future.

[gongyue666]

ok，thx all the same，I will try to slove it and share progress

[Siyuan Huang]

Since there is no further update, I will close this issue.