Closed zhangwq1996 closed 4 years ago
at line 1257 in featureAssociation.cpp In paper,we should estimate [tz,rx,ry] in step(1). But in code ,we get [ty,rx,rz] in step(1). why?
In LOAM, point cloud coordinates are transformed in line 487-489. So the transformation [ty,rx,rz] in camera frame is equal to the transformation [tz,rx,ry] in lidar frame.
line 487-489
[ty,rx,rz]
[tz,rx,ry]
at line 1257 in featureAssociation.cpp In paper,we should estimate [tz,rx,ry] in step(1). But in code ,we get [ty,rx,rz] in step(1). why?