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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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Frames Interpretation #250

Open tejalbarnwal opened 2 years ago

tejalbarnwal commented 2 years ago

@TixiaoShan I apologize for asking such a silly query but is it like base_link is where the code assumes the lidar's frame and the camera frame can be treated as just another sensor attached to base_link if I wish to perform only Lidar Slam? While laser_odom represents the odometry of the lidar with respect to the camera_init frame? What does the camera_init frame signify? Also, how is the transform between the camera_init frame and the camera frame calculated?

131 #134 #244

stale[bot] commented 2 years ago

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