A problem in function calculateTransfromationSur

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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A problem in function calculateTransfromationSur #152

Closed zhangwq1996 closed 4 years ago

zhangwq1996 commented 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?

TixiaoShan commented 4 years ago

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.