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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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Questions about BasicLaserOdometry #163

Open sterngerlach opened 3 years ago

sterngerlach commented 3 years ago

Dear All,

I have a question about the implementation of BasicLaserOdometry. My understanding is that _transform represents the relative transformation between the current point cloud and the previous point cloud (both are projected to the start of the current sweep), and it needs to be initialized to zero before performing Gauss-Newton optimization. But it seems that _transform is not initialized to zero in BasicLaserOdometry::process(), and instead its position is subtracted by _imuVeloFromStart * _scanPeriod. I would like to know the reason for this. Thank you!

xzwang12345 commented 1 year ago

Hi @sterngerlach ,I have the same question ,did you know the reason ? Thank you very much