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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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How can I edit the code to apply mapping to all points (include outliers), rather than just the corners and surf? #281

Open ghangminyun opened 5 months ago

ghangminyun commented 5 months ago

Hello,

I'm trying to edit the four cpp codes to apply mapping to all points, not just the corners and surface.

I believe I need to make edits to the 'mapOptimization.cpp', by adding the mapping code for outlier points as what you already have done to corner and surf. I wonder if it is right way, or there are more effective ways.

I really appreciate for your help.