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wangx1996 / Lidar-Segementation

An implementation on "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance" from IROS 2019
MIT License
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你好，源代码CVC.cpp 86行和88行 是不是写反了 #9

Open HMX2013 opened 2 years ago

HMX2013 commented 2 years ago

按照曲率体的定义我感觉应该是相反的 par.polar_angle = Polar_angle_cal(cloud_IN.points[i].x, cloud_IN.points[i].y); par.azimuth =(float) atan2(cloud_IN.points[i].z,par.range);

aikrengel commented 2 years ago

Yes, apparently this is swapped in the code!

aikrengel commented 2 years ago

@wangx1996 will you correct this in the near future?

HMX2013 commented 2 years ago

@aikrengel you can check my version. https://github.com/HMX2013/CVC-ROS