using FAST-LIVO2 without camera

[crazy-robotics]

Hi, I am new to SLAM I want to build an application for indoor navigation. I want to use FAST-LIVO2 without a camera because I face lighting issues when using indoor navigation. is it possible to use FAST-LIVO2 without camera.

[TannerGilbert]

Yes you can disable the camera by setting img_en: 0 in the config file. For reference this will change the slam_mode_:

• slam_mode_ definition: https://github.com/hku-mars/FAST-LIVO2/blob/main/src/LIVMapper.cpp#L155
• Choices: https://github.com/hku-mars/FAST-LIVO2/blob/main/src/LIVMapper.cpp#L858

Probably worth looking into the performance difference between FAST-LIVO2 without camera and FASTLIO2 for your application.

[protocad-design]

Hi, i tried this and its working. But after setting img_en to 0 no PCD file will be created after exiting FAST-LIVO2. (pcd_save_en is set to true)

PS: There is no error message or warning.

[Albert-wa]

Hi, i tried this and its working. But after setting img_en to 0 no PCD file will be created after exiting FAST-LIVO2. (pcd_save_en is set to true)

PS: There is no error message or warning.

For FAST-LIVO2 without camera, point cloud in world frame will be stored in pcl_w_wait_pub instead of laserCloudWorldRGB

So we need to create a point cloud (e.g. pcl_wait_save_xyzi) in format of PointCloudXYZI to cumulate pcl_w_wait_pub in it for outputting PCD file (with points x, y, z, intensity)


If downsampled PCD file needed as well, just add an extra voxel grid filter for pcl_wait_save_xyzi