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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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question about function loopFindNearKeyframesCloud and variable _loop_kf_idx #5

Closed ZeyingXuHuaWei closed 3 years ago

ZeyingXuHuaWei commented 3 years ago

Hello, the second variable of function void loopFindNearKeyframesCloud( pcl::PointCloud::Ptr& nearKeyframes, const int& key, const int& submap_size, const int& root_idx) in LaserPosegraphOptimization.cpp is not used.

Another question: why you use _loop_kf_idx but not _curr_kf_idx in the doICPVirtualRelative function？ image

gisbi-kim commented 3 years ago

hi, @ZeyingXuHuaWei
I think this issue would be the answer. https://github.com/irapkaist/SC-LeGO-LOAM/issues/16

QiMingZhenFan commented 2 years ago

hi, @ZeyingXuHuaWei I think this issue would be the answer. irapkaist/SC-LeGO-LOAM#16

hi, thanks for your reply. I have the same question as @ZeyingXuHuaWei does, and I followed the link you mentioned above. But in my opinion, this situation is different from what is in your link. In the code mentioned by @ZeyingXuHuaWei, you use ICP to calculate the transform between the target keyframe (old keyframe where loop closure was found between the current keyframe and it) and the submap surrounding the target keyframe. Should there be a transform between current keyframe and the submap surrounding the target keyframe?