search

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
2.36k stars 1.11k forks source link

fix bug in corresponding features searching #95

Closed leewo0 closed 5 years ago

leewo0 commented 5 years ago

Apparently cornerPointsSharpNum is much smaller than laserCloudCornerLastNum and surfPointsFlatNum is smaller than laserCloudSurfLastNum. Thus, no fatal error. But this causes loss of corresponding features.

TixiaoShan commented 5 years ago

Do you notice any accuracy performance improvement? I see that the original code uses the same params.

http://docs.ros.org/indigo/api/loam_velodyne/html/laserOdometry_8cpp_source.html

leewo0 commented 5 years ago

I see that too. I haven't tested any cases with ground truth. It's almost the same when i tested in a scenario with rich features by doing close loop. In the original code, we can still find corresponding features in two rows below. I think it could improve if there are less features.