Closed narutojxl closed 4 years ago
Not only just the first cell, we insert all of the cells which have been visited in this scan.
Hi @ziv-lin, why when we insert cell's center into m_pcl_cells_center
only when last_cell_numbers == 0
, I don't understand.
This is some of the codes of legacy, in the older version, I maintain a octree in Maps, which have beed deleted in one of the version, but I forget to delete this code :)
Hi @ziv-lin, after transformed curr's points into map, when insert these celles into
m_keyframe_of_updating_list
called in add_cells into each keyframe of updating_list, we only insert the first cell into each keyframe, right? why we don't insert all of cells into each of them? Thanks for your help!