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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
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initial trans value between curr anchor keyframe and history keyframe, before loop calculate #37

Closed narutojxl closed 4 years ago

narutojxl commented 4 years ago

Hi @ziv-lin, when we detect there is a potential loop, before we use different voxel resolution to filter the curr anchor keyframe and history anchor history keyframe, we set the initial trans use keyframe's center, link is here. I guess we calculate transform is: the TF from curr to history in world frame. Here the transform direction is reffering to frame, not vectors in frame. Why we don't set the trans initial is history minus curr,

Eigen::Matrix< double, 3, 1 > transform_T = ( keyframe_b->get_center() - keyframe_a->get_center() ).template cast< double >();

It is the vector from curr to history. Thanks for your help very much!

ziv-lin commented 4 years ago

This is for aligning the center of two keyframes, so we subtract the bias in scene alignment.

narutojxl commented 4 years ago

@ziv-lin Thanks a lot!