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ZzhYgwh / 4DRadarSLAM-hao

Modify the nodelet version to ros node format & Solve the problem of point cloud pointer error
GNU General Public License v3.0
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你好，请问你知道如何保存经PGO优化后的里程计Pose吗？ #2

Open lushouyi opened 1 month ago

lushouyi commented 1 month ago

我根据作者的代码，将aft变量，保存为经PGO优化后的Pose，但我发现，该Pose和Scan2Scan匹配的Pose一样，未经过优化，请问你知道问题所在吗？ nav_msgs::Odometry aft = isometry2odom(keyframe->stamp, trans_aftmapped, mapFrame, odometryFrame); aftmapped_odom_pub.publish(aft);