how to reconstruction after optimization and PGO.
minho3 opened this issue · 2 comments
minho3 commented
I am test your code, and result is good.
so i want reconstruction this.
This code publish keyframes after optimization, but keyframe to keyframe distance are about 1m.
so i want every pose versus 1 lidar frame. how to this implementation?
engcang commented
Hi @minho3 .
The code is already publishing the realtime pose in "pose_stamped" topic.
You can refer this line: https://github.com/engcang/FAST-LIO-SAM/blob/master/fast_lio_sam/src/callbacks.cpp#L31