A problem in function findCorrespondingSurfFeatures

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

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A problem in function findCorrespondingSurfFeatures #148

Closed xpchuan closed 4 years ago

xpchuan commented 4 years ago

at line 1160 in featureAssociation.cpp int j = closestPointInd + 1; j < surfPointsFlatNum; j++) why use surfPointsFlatNum instead of laserCloudSurfLastNum?

xpchuan commented 4 years ago

I saw a closed issue for this problem, but the newest code still has this problem

TixiaoShan commented 4 years ago

I think it should use laserCloudSurfLastNum. Since surfPointsFlatNum is close to laserCloudSurfLastNum between two frames, I don't think there will be much observable difference.