I need help for Fast_lio2 compatible with PandarXT32.

[hzm789]

This is my code, i dont know what is wrong void Preprocess::pandar_handler(const sensor_msgs::PointCloud2::ConstPtr &msg) { pl_surf.clear(); pl_corn.clear(); pl_full.clear(); pcl::PointCloud pl_orig; pcl::fromROSMsg(*msg, pl_orig); // 将 ROS 点云消息转换为 PCL 格式 int plsize = pl_orig.points.size(); pl_surf.reserve(plsize); // 为输出点云预留空间

while (pl_orig.points[plsize - 1].timestamp - pl_orig.points[0].timestamp >= 0.1) { plsize--; pl_orig.points.pop_back(); }

auto time_list_pandar = [&](pandar_ros::Point &point_1, pandar_ros::Point &point_2) { return (point_1.timestamp < point_2.timestamp); }; std::sort(pl_orig.points.begin(), pl_orig.points.end(), time_list_pandar);

double time_head = pl_orig.points[0].timestamp;

for(int i=0; i<plsize; i++) { if (!(std::isfinite(pl_orig.points[i].x) && std::isfinite(pl_orig.points[i].y) && std::isfinite(pl_orig.points[i].z))) continue;

PointType added_pt;
added_pt.normal_x = 0;
added_pt.normal_y = 0;
added_pt.normal_z = 0;
added_pt.x = pl_orig.points[i].x;
added_pt.y = pl_orig.points[i].y;
added_pt.z = pl_orig.points[i].z;

added_pt.intensity = pl_orig.points[i].intensity;
added_pt.curvature = (pl_orig.points[i].timestamp - time_head) * time_unit_scale;

if(i % point_filter_num == 0)
{
  if(added_pt.x*added_pt.x + added_pt.y*added_pt.y + added_pt.z*added_pt.z > blind * blind)
  {
    pl_surf.points.push_back(added_pt);
  }
}

} }

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