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engcang / FAST-LIO-SAM

a SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on LIO-SAM paper
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Pose between first two keyframes is wrong #3

Closed cattaneod closed 1 year ago

cattaneod commented 1 year ago

First of all, thank you for you great work @engcang !

I noticed a bug that the first m_odom_delta was ignored, and therefore the pose between the first two keyframes was wrong. I fixed the bug, now the first pose is correct.

engcang commented 1 year ago

Hi @cattaneod.

Thank you for the commit and it looks good. I assumed the first odom_msg in callback should be the identity, which is not guaranteed depending on the output from the LO or LIO. So your commit is correct!