search

ethz-asl / lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor
837 stars 265 forks source link

lidarOdomKNNError(pointcloud, pointcloud) pointcloud is the same? #25

Open improve100 opened 4 years ago

improve100 commented 4 years ago

hello,why lidarOdomKNNError pass the same argument?

float Aligner::lidarOdomKNNError(const Lidar& lidar) const { Pointcloud pointcloud; lidar.getCombinedPointcloud(&pointcloud); return lidarOdomKNNError(pointcloud, pointcloud); }

LarryDong commented 4 years ago

Hi, I guess this function may be modified from other uses. It can search KNN between 2 pointClouds if using 2 different arguments. Since in this code, pointCloud is construct using all scans from Bag, if the transform is correct (between scans), points in different scans from the same region should coincide. As a results, they added "++k" in this function. But I think ++k is not necessary.