engcang/fast-lio-sam-sc-qn

A SLAM implementation combining FAST-LIO2 with pose graph optimization and loop closing based on ScanContext, Quatro, and Nano-GICP

Interest 😮

Unmanned Aerial Vehicle, Exploration, LiDAR(Visual)-Inertial Odometry, SLAM, Active SLAM,
Control, Obstacle avoidance, Coverage Path Planning

🛠 Skills 🛠

           
         

More about me 🙂

         

📌 Pinned repos 📌

👓🔧 Analysis and utils

⚙️ Algorithms

🤖 Simulations

fast-lio-sam-sc-qn's Issues

Some questions about the frame

hello, I find that in loopTimerFunc(), "keyframes_copy_ = m_keyframes" this step consumes more and more time as the number of keyframes increases.

Firstly, I would like to ask if it is possible to reduce the time consumption by copying only the current frame and closest_keyframe instead of copying all the keyframes if we adopt the frame-to-frame approach of Quatro + NANO-GICP to detect loop so that the frequency of loop detection can be increased a little bit.

Secondly I would also like to ask if it would be better to have a higher loop detection frequency.

Thirdly, I would like to ask you why you don't have fastlio as an odometer output instead of fastlio2

Looking forward to your reply！

undefined reference to `nanoflann::KdTreeFLANN<pcl::PointXYZI>::KdTreeFLANN(nanoflann::KdTreeFLANN<pcl::PointXYZI> const&)

Hey!
First of all, great work!
I've been looking for a replacement for FAST_LIO_SAM, wanted to give this one a try
I keep getting this error when trying to build tho:

ros1_ws/install/nano_gicp/lib/libnanoflann.so: undefined reference to `nanoflann::KdTreeFLANNpcl::PointXYZI::KdTreeFLANN(nanoflann::KdTreeFLANNpcl::PointXYZI const&)'
clang++: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [CMakeFiles/fast_lio_sam_sc_qn_node.dir/build.make:324: devel/lib/fast_lio_sam_sc_qn/fast_lio_sam_sc_qn_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:2759: CMakeFiles/fast_lio_sam_sc_qn_node.dir/all] Error 2
make: *** [Makefile:146: all] Error 2

I believe it's because there are 2 distinct libs named nanoflann included
I would like to not have to build packages in separate steps
How would I go about achieving that? Or would you recommend going for the SC-less version?