lidar2imu问题

[UpdownQ]

你好呀！这段代码的添加是什么意义，修补了什么bug呢？ Eigen::Vector3d gp_normal(0, 0, 1); Eigen::Vector3d ap_normal(ap_centor_direct.normal_x, ap_centor_direct.normal_y, ap_centor_direct.normal_z); double angle = std::acos(gp_normal.dot(ap_normal)); double degree_2_radian = 0.017453293; double angel_degree = angle / degree_2_radian; if (angel_degree < 160 && angel_degree > 20) { return; }

[xiaokn]

你好呀！这段代码的添加是什么意义，修补了什么bug呢？ Eigen::Vector3d gp_normal(0, 0, 1); Eigen::Vector3d ap_normal(ap_centor_direct.normal_x, ap_centor_direct.normal_y, ap_centor_direct.normal_z); double angle = std::acos(gp_normal.dot(ap_normal)); double degree_2_radian = 0.017453293; double angel_degree = angle / degree_2_radian; if (angel_degree < 160 && angel_degree > 20) { return; }

这段代码应该是对提取特征进行过滤

[DeepRobot2020]

@xiaokn

I am a bit puzzled by this code also. From the code, it seems we will filter out the planes whose normal vector direction deviates from the gravity direction too much (> 20 degrees)?