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