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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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adjustDistortion about halfpassed #248

Closed Shelfcol closed 2 years ago

Shelfcol commented 2 years ago

Hello,sorry to bother you, I seemly find a bug in adjustDistortion() function. The point cloud used to calculate the ori in LOAM is stored in columns, so you can assign halfpassed once to mark whether the point cloud traversed in order has passed half a circle, but the segmentedCloud in lego-loam is stored in rows, using same method to calculate ori seems wrong, and the output of ori in lego-loam is not between startOrientation and endOrientation. Looking forward to your reply sincerely.

stale[bot] commented 2 years ago

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