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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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Questions about loop closure's local point cloud #29

Open Cc19245 opened 2 years ago

Cc19245 commented 2 years ago

Hi, kim!

Thanks for your great work!

Now I have a question about the code of loop closure's local point cloud in laserPosegraphOptimization.cpp at here.

loopFindNearKeyframesCloud(cureKeyframeCloud, _curr_kf_idx, 0, _loop_kf_idx); // use same root of loop kf idx 
loopFindNearKeyframesCloud(targetKeyframeCloud, _loop_kf_idx, historyKeyframeSearchNum, _loop_kf_idx);

I don't understand why you use the last parameter _loop_kf_idx for all of the targetKeyframeCloud, which of them have the point cloud in their local LiDAR frame. Or maybe I have a misunderstand?

Looking forward to your reply!