Integration with fastlio 2 about livox_camera_calib

[ChongjianYUAN]

Hello,

Thanks for sharing such amazing work. I am able to calibrate livox avia and rgb camera really well. I am trying modify fast lio 2 (https://github.com/hku-mars/FAST_LIO) for rgb point cloud. But the getting good results only in first 2 3 frames. After that mapping is not good. I saw your example video even you are using fast lio for SLAM and then colouring it. Can you please throw some light for the same?

Thanks a lot

The method of coloring point cloud(ouster) in my video is to register the point cloud to the first frame and then color it by the corresponding image(first frame). If you want to integrate it with FAST-LIO2, you need to synchronize the camera and LiDAR first, then for the accumulated point cloud of frame K, you need to color by the image corresponding to the time of frame K.