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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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Extracting transformation between frames #86

Open elahea2020 opened 6 years ago

elahea2020 commented 6 years ago

Hi,

I am trying to extract the transformation between frames and then fuse all of the frames with another script after loam. After reading the code I figured the transformation must be stored in _aftMappedTrans (https://github.com/laboshinl/loam_velodyne/blob/a06980a3e1619ddc8d34b188ac359a1ad8722a1d/src/lib/LaserMapping.cpp#L305) However when I fuse the frames using this transformation, the results seems to be completely wrong.

Would appreciate it if yousomeone could tell me which variable stores the transformation between the frames or transformation of frames to the global world coordinate.

Thanks

elahea2020 commented 6 years ago

RESOLVED

Shantnu12345 commented 6 years ago

Hi, I am working on the same problem: Extracting transformation between frames. Could you please verify how did you accomplished this?

jianrui1 commented 5 years ago

@elahea2020 @Shantnu12345 Hi, I am doing the same work:extracting transformation between frames. Have you all succeed? Can you share some experience to me ? Thanks for advance