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YWL0720 / FAST-LOCALIZATION

A LiDAR-Inertial localization package based on FAST-LIO2, operating with a known prior map.
GNU General Public License v2.0
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代码问题 #4

Closed wwruiiii closed 11 months ago

wwruiiii commented 11 months ago

尊敬的作者您好,我在阅读代码的过程中，发现laserMapping.cpp文件中的“Nearest_Points“变量没有被赋值但是多处被用到，请问这是正确做法么？若您看到给我回复，我万分感谢。

YWL0720 commented 11 months ago

laserMapping.cpp中的第687行，创建了一个引用points_near，其直接引用Nearest_Points[i]

auto &points_near = Nearest_Points[i];

其值随后在第692行中被修改

ikdtree.Nearest_Search(point_world, NUM_MATCH_POINTS, points_near, pointSearchSqDis);
wwruiiii commented 11 months ago

哇，好及时，谢谢！是我看的不仔细了