search

engcang / FAST-LIO-SAM

a SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on LIO-SAM paper
Other
159 stars 17 forks source link

how to reconstruction after optimization and PGO. #1

Closed minho3 closed 1 year ago

minho3 commented 1 year ago

I am test your code, and result is good. so i want reconstruction this. This code publish keyframes after optimization, but keyframe to keyframe distance are about 1m. so i want every pose versus 1 lidar frame. how to this implementation?

engcang commented 1 year ago

Hi @minho3 . The code is already publishing the realtime pose in "pose_stamped" topic. You can refer this line: https://github.com/engcang/FAST-LIO-SAM/blob/master/fast_lio_sam/src/callbacks.cpp#L31

engcang commented 1 year ago

If you don't have further questions regarding the issue, let me close this. @minho3