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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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confused with the function TransformToStart #192

Closed WEICHUAN1107 closed 3 years ago

WEICHUAN1107 commented 4 years ago

In the project, the function TransformToStart translates a point to the start of a scan, with the function P0=R(P1-t). And my question is why is not the function P0=RP1-t. Is the reason because the rotation of a point is too small?

stale[bot] commented 3 years ago

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