TixiaoShan / LIO-SAM

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
BSD 3-Clause "New" or "Revised" License
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cloudExtraction() of imageProjection.cpp typo? #489

Open Wayne-sketch opened 7 months ago

Wayne-sketch commented 7 months ago

In the file imageProjection.cpp, cloudExtraction seems to save the fifth-to-last point on each scan line into endRingIndex. But it seems like an extra subtraction of 1 when calculating the index. It should be cloudInfo.endRingIndex[i] = count - 5;