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fallback downsampling #37

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Merged
koide3 merged 1 commit into from
Aug 31, 2026
+17 −0
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fallback downsampling #37

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17 changes: 17 additions & 0 deletions modules/odometry/fastlio2/src/glim_ext/odometry_estimation_fastlio2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -808,10 +808,27 @@ EstimationFrame::ConstPtr OdometryEstimationFastLIO2::insert_frame(const Preproc
impl->lasermap_fov_segment();

// Downsample
const double leaf_size_surf0 = impl->downSizeFilterSurf.getLeafSize()[0];
impl->downSizeFilterSurf.setLeafSize(leaf_size_surf0, leaf_size_surf0, leaf_size_surf0);
impl->downSizeFilterSurf.setInputCloud(impl->feats_undistort);
impl->downSizeFilterSurf.filter(*(impl->feats_down_body));
impl->feats_down_size = impl->feats_down_body->points.size();

// If it failed to downsample due to too large voxel size, increase the voxel size and try again until we have a reasonable number of points
double leaf_size_surf = leaf_size_surf0;
while (impl->feats_down_size > 1000 && impl->feats_undistort->size() == impl->feats_down_size && leaf_size_surf < 5.0) {
leaf_size_surf *= 1.5;
std::cout << "Failed to downsample, |original|=" << impl->feats_undistort->size() << ", |downsampled|=" << impl->feats_down_size << ", increasing voxel size to "
<< leaf_size_surf << std::endl;
std::cout << "Increasing voxel size to " << leaf_size_surf << std::endl;

impl->downSizeFilterSurf.setLeafSize(leaf_size_surf, leaf_size_surf, leaf_size_surf);
impl->downSizeFilterSurf.setInputCloud(impl->feats_undistort);
impl->downSizeFilterSurf.filter(*(impl->feats_down_body));
impl->feats_down_size = impl->feats_down_body->points.size();
}
impl->downSizeFilterSurf.setLeafSize(leaf_size_surf0, leaf_size_surf0, leaf_size_surf0);

// Initialize the map kdtree if needed
if (impl->ikdtree.Root_Node == nullptr) {
if (impl->feats_down_size > 5) {
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