Zihong Yan

Yes, I also think it should be like this one: ```C++ *nearKeyframes += * local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[keyNear]); ```

就是这个仓库发布的[release版本](https://github.com/hku-mars/M-detector/releases/tag/FAST_LIO)

Thanks! Problem solve after compile again.  Any idea for tuning the result, it seems to have some noise points on kitti0001.bag? @HuajieWu99 @yangtzey Thanks again! 😊

The results of other frames are better than the picture above: 

And the ground looks so thick and noise as shown in the figure  Does anyone have this problem? Thanks

Not yet, I am busy with other projects for the time being. Hopefully someone else can fix this

Yes, I run MINS with subscriber: `roslaunch mins subscribe.launch`. Thanks, I will try your suggestions, and BTW, as for the parameter `lidar_map_use_icp`, do you mean: ``` lidar: map_use_icp: false ```...