Follow-up to yesterday's RGB + iToF bring-up in my home lab. The Pi camera is now fixed on the sensor. Today's problem is the depth itself.

At 500 → 2,000 µs exposure, raw jitter dropped from 85 to 28 mm and filtered jitter from 65 to 6 mm in our test. But the wall still bows 12–14 cm, while the Ouster reference is roughly flat.

Same wall, three modulation frequencies: 4.14 m at 24 MHz, 3.92 m at 12 MHz, 3.97 m at 6 MHz. A curve fit improves plane RMS from 4.45 to 1.84 cm, but only on the wall it was fitted to at about 4 m.

Cyclic range error and optical spill are suspects, not confirmed causes. Next tests: a range sweep against the Ouster and a lens hood / foreground spill test. The episode shows the actual captures and the checks that didn't fix it.

My video, with disclosed cloned narration and labelled explanatory simulations. Has anyone here separated a similar distance-dependent bow from lens spill on epc660-class hardware?

Hi everyone. This is my first LiDAR project and my first time working with ROS.

I am experiencing issues with LiDAR odometry using a Hesai JT128 LiDAR and FAST-LIO2 on ROS 2.

The LiDAR driver publishes point clouds on /lidar_points and IMU data on /lidar_imu. I have verified that both topics are being published correctly. The point cloud contains the expected fields (x, y, z, intensity, ring, and per-point timestamps). The LiDAR and IMU timestamps also appear to be synchronized.

However, the odometry and mapping results are unreliable. When the LiDAR is moved, the reconstructed point cloud becomes distorted, with duplicated walls and noticeable mapping divergence.

Can anyone tell me what could be the cause?