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laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
http://wiki.ros.org/loam_velodyne
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scanID #146

Open Sumyer opened 5 years ago

Sumyer commented 5 years ago

Hi everyone!

I can not undersatnd how this code calculates scanID, can anyone answer for me?

`int MultiScanMapper::getRingForAngle(const float& angle) {

return int(((angle 180 / M_PI) - _lowerBound) _factor + 0.5); }`

heroacool commented 5 years ago

+0.5, same as function round(((angle 180 / M_PI) - _lowerBound) _factor )