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xiesc / slamKitti_noros

Apply LOAM on KITTI
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Pass mapping result back to odometry? #3

Open antithing opened 5 years ago

antithing commented 5 years ago

Hi, and thanks for making this code available. I am looking at multi threading it to improve speed, and it seems it would be good to pass the result of mapping back to Odometry as a new start position, to keep them more in line.

i am trying this:

if (i > 0)
    {
        odometrier->transform[0] = mappingBackValue.transformAftMapped[0];
        odometrier->transform[1] = mappingBackValue.transformAftMapped[1];
        odometrier->transform[2] = mappingBackValue.transformAftMapped[2];
        odometrier->transform[3] = mappingBackValue.transformAftMapped[3];
        odometrier->transform[4] = mappingBackValue.transformAftMapped[4];
        odometrier->transform[5] = mappingBackValue.transformAftMapped[5];
    }

    scanValueBack = scanner->laserCloudHandler(*points_filtered);   

    odometryValueBack = odometrier->laserOdometryHandler(scanValueBack);

but it makes the odometry travel the wrong way. Would you be able to point me in the right direction for doing this?> Thanks!