实时定位很慢请问有解决办法吗

[pl9632008]

实时定位很慢请问有解决办法吗

[arjunskumar]

@pl9632008 share your config

[pl9632008]

Hello, I found that fastlio keeps adding ikdtree nodes. I added the following code in laserMapping.cpp to delete nodes at intervals. Additionally, I modified filter_size_surf to 1 and filter_size_map to 1. After that, I found that localization works. Will this cause any potential risks? The lidar is Livox HAP.

int max_len;
nh.param<int>("max_len", max_len, 10000);
if(featsFromMapNum>max_len){
    BoxPointType cus_range = ikdtree.tree_range();
    std::vector<BoxPointType> res={cus_range};
    ikdtree.Delete_Point_Boxes(res);
 }