question about the usage of the atan2()

RobustFieldAutonomyLab / LeGO-LOAM

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

BSD 3-Clause "New" or "Revised" License

2.35k stars 1.11k forks source link

question about the usage of the atan2() #158

Closed zorosmith closed 4 years ago

zorosmith commented 4 years ago

Hello, I have question about the usage of the atan2() in the imageProjection.cpp. In the calculation of startOrientation, endOrientation and verticalAngle, you use atan2(y, x), however, in the calculation of horizonAngle, you use atan2(x, y). Is this designed this way, or just a mistake?

Any help will be appreciated!

TixiaoShan commented 4 years ago

It is designed that way, so the left of the image corresponds to the left of the point cloud.