ywl0720 / fast-localization Goto Github PK

您好，录取同一场景的不同bag包，一个用于建图一个用于重定位，在重定位视乎总是失败，搜索不到相似位姿，请问有什么优化方法？

大佬您好，我在加载完地图之后，并且已经显示加载成功，当我播放bag包的时候，rviz直接黑屏，不显示任何东西，请问应该怎么解决？期待您的解答

My lidar is a MID360, placed upside down on the robot, mapped through your FAST LIO package, and ran the result in FAST-LOCALIZATION, but only the first frame matched and the effect was good, and then it started Very serious drift, how should I solve it？

尊敬的作者您好,我在阅读代码的过程中，发现laserMapping.cpp文件中的“Nearest_Points“变量没有被赋值但是多处被用到，请问这是正确做法么？若您看到给我回复，我万分感谢。

[Init found] Nearest distance: 0.00467 btn 75 and 13.
[Init found] yaw diff: 0 deg.
[Init found] Nearest distance: 0.00467 btn 75 and 13.
[Init found] yaw diff: 0 deg.
[ INFO] [1709178568.229404289]: Global match map id = 13
[pcl::PCDReader::readHeader] Could not find file '/home/jason/3d_ws/src/FAST-LOCALIZATION/map/pcd/13.pcd'.
[pcl::IterativeClosestPoint::setInputTarget] Invalid or empty point cloud dataset given!
[pcl::registration::IterativeClosestPoint::compute] No input target dataset was given!
[pcl::IterativeClosestPoint::setInputTarget] Invalid or empty point cloud dataset given!
[pcl::registration::IterativeClosestPoint::compute] No input target dataset was given!
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
[ INFO] [1709178568.229518162]: Global localization successfully

Hi, I noticed that https://github.com/irapkaist/scancontext returns a 404 error, would you happen to have your own fork of the repo you can link instead?

您好，在运行代码时，top指令显示该定位算法的CPU占用率达到了100多，请问有什么好的解决方法？

基于SC的方法对周围有移动物体的情境下可以很好的进行重定位吗？有试过BoW3D替换sc进行重定位吗？

作者您好，很感谢您出色的工作，在室内的环境中您的代码可以很完美的运行，但是我在大型的室外数据集中测试发现代码并不能自动找到初始位姿，请问一下在哪里可以调整相关的参数呢，感激不尽

Hi, many thanks for this awesome repo. I was wondering whether you can provide a rosbag for an example to run the repo? Additionally any plans for supporting ouster lidar, or what is needed to add ouster support?

Hi,
I have a single map (.pcd) file from fast-lio and a single pose. How can use them to localize using this package?

Why when i load map successfully it's quite bad

In this test i used Livox bag by HKU