As for my understanding, the laser_cloudlength, laser_cloudwidth and laser_cloudheight consist of the number of cubes in the existing cloud on the map, and the laser_cloud_cenlength, laser_cloud_cenwidth and laser_cloud_cenheight is the center of the existing cloud on the map when init. (unit in meters)
Attached my view of the meaning of the variables,
My question is,
In the paper (part 6 Lidar mapping, as attached pic), it would be a 10cm 10cm 10cm certain region to find the cloud then insert to KD-tree.
Some explanation say that it would be corresponding to the laser_cloud_cenlength, laser_cloud_cenwidth and laser_cloud_cenheight .
If that correct? It seems 10cm 10cm 10cm would be very small for insert to KD-tree.
If not, where can I find the related code with the paper's 10cm 10cm 10cm certain region?
Hey All,
I am learning the part of point_processor together with the LOAM paper https://www.ri.cmu.edu/wp-content/uploads/2019/01/AURO_2017_2.pdf
In the below variables I might a little confused and hope someone can give me a hand.
https://github.com/hyye/lio-mapping/blob/8485a4d9c359b7e486ad019a10815ecb8fd1257f/src/point_processor/PointMapping.cc#L77-L82
As for my understanding, the laser_cloudlength, laser_cloudwidth and laser_cloudheight consist of the number of cubes in the existing cloud on the map, and the laser_cloud_cenlength, laser_cloud_cenwidth and laser_cloud_cenheight is the center of the existing cloud on the map when init. (unit in meters) Attached my view of the meaning of the variables,
My question is, In the paper (part 6 Lidar mapping, as attached pic), it would be a 10cm 10cm 10cm certain region to find the cloud then insert to KD-tree. Some explanation say that it would be corresponding to the laser_cloud_cenlength, laser_cloud_cenwidth and laser_cloud_cenheight . If that correct? It seems 10cm 10cm 10cm would be very small for insert to KD-tree. If not, where can I find the related code with the paper's 10cm 10cm 10cm certain region?