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地图的实时显示 #20

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defaultvalues opened this issue Jul 25, 2023 · 1 comment
Open

地图的实时显示 #20

defaultvalues opened this issue Jul 25, 2023 · 1 comment

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@defaultvalues
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fast-lio几乎是每秒一帧的速度来显示地图的，对于有大范围建图太慢了，而且没有提取关键帧，最后建出来的图也很大，请问有没有什么思路改进一下？
@kahowang
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显示地图和建图其实并不冲突，构建地图时，可以把显示地图的部分先关掉，或者设置RVIZ的延时点云，减少内存占用。提取关键帧部分可以参考LIO-SAM，FASTLIO-SAM里面也有涉及，谢谢~

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@kahowang @defaultvalues