Cc19245

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Results 3 issues of Cc19245

Questions about loop closure's local point cloud

Hi, kim! Thanks for your great work! Now I have a question about the code of loop closure's local point cloud in laserPosegraphOptimization.cpp at [here](https://github.com/gisbi-kim/FAST_LIO_SLAM/blob/main/SC-PGO/src/laserPosegraphOptimization.cpp#L434). ``` loopFindNearKeyframesCloud(cureKeyframeCloud, _curr_kf_idx, 0, _loop_kf_idx);...

Why LIO-SAM failed but DiSCo-SLAM sucessed on same dataset?

Hi, @DapengFeng @thisparticle @zhongshp Thanks for your great work! I test DiSCo-SLAM on S3E_Playground_1.bag, but robot Alpha and Bob failed. Then I test LIO-SAM on this dataset and they failed...

When will release code for HoP on BEVFormer?

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Hi, @TempleX98 @Sense-X @CaraJ7 Thanks for your great work! I'd like to know any plan to release code for HoP on BEVFormer?