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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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The problem about findStartEndAngle() #133

Closed yycchen closed 4 years ago

yycchen commented 4 years ago

Hi! I wonder why the code of endOrientation in findStartEndAngle is -2 rather than -1?

https://github.com/RobustFieldAutonomyLab/LeGO-LOAM/blob/master/LeGO-LOAM/src/imageProjection.cpp#L188 segMsg.endOrientation = -atan2(laserCloudIn->points[laserCloudIn->points.size() - 1].y, laserCloudIn->points[laserCloudIn->points.size() - 2].x) + 2 * M_PI;

TixiaoShan commented 4 years ago

@yycchen That was a typo. I forgot to correct it. Thanks for pointing it out.

yycchen commented 4 years ago

OK! @TixiaoShan Thanks for your help.