Replacing other slam algorithms as front end？

[Joosoo1]

Thanks for open-sourcing this work, what modifications have you made to Lio-sam and fast-lio for DCL-SLAM, and if I want to use other algorithms such as DLIO as a front-end, how should I adapt them, please give me some advice! thanks @zhongshp

[zhongshp]

Hi~ Joosoo1
In general, the process to use other algorithms as a front-end is as follows:

1.define a distributedMapping object, as shown in https://github.com/PengYu-Team/DCL-LIO-SAM/blob/2a68c5f503c04eb1a9ddbac4f9b1fb5ed7bb980a/src/mapOptmization.cpp#L64.
2. call api function to perform distributed pgo, as shown in https://github.com/PengYu-Team/DCL-LIO-SAM/blob/2a68c5f503c04eb1a9ddbac4f9b1fb5ed7bb980a/src/mapOptmization.cpp#L273.
3. create a thread for distributed loop closure, as shown in https://github.com/PengYu-Team/DCL-LIO-SAM/blob/2a68c5f503c04eb1a9ddbac4f9b1fb5ed7bb980a/src/mapOptmization.cpp#L1816.

You can refer to https://github.com/PengYu-Team/DCL-LIO-SAM/blob/master/src/mapOptmization.cpp in detail.

[Joosoo1]

Okay, thanks for the reply.