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HViktorTsoi / FAST_LIO_LOCALIZATION

A simple localization framework that can re-localize in built maps based on FAST-LIO.
GNU General Public License v2.0
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实时定位很慢请问有解决办法吗 #41

Open pl9632008 opened 2 months ago

pl9632008 commented 2 months ago

实时定位很慢请问有解决办法吗

arjunskumar commented 2 months ago

@pl9632008 share your config

pl9632008 commented 2 months ago

Hello, I found that fastlio keeps adding ikdtree nodes. I added the following code in laserMapping.cpp to delete nodes at intervals. Additionally, I modified filter_size_surf to 1 and filter_size_map to 1. After that, I found that localization works. Will this cause any potential risks? The lidar is Livox HAP. 

  int max_len;
  nh.param<int>("max_len", max_len, 10000);
  if(featsFromMapNum>max_len){
      BoxPointType cus_range = ikdtree.tree_range();
      std::vector<BoxPointType> res={cus_range};
      ikdtree.Delete_Point_Boxes(res);
   }